diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-01-18_23-52-50_474081/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-01-18_23-52-50_474081/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..44d597d9cb642d1b6a40ac9debf72803a7fa06c1
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-01-18_23-52-50_474081/pose.jsonl
@@ -0,0 +1,535 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -727.8285105944028,
+            -65.65473807466608,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -729.3285105944028,
+            -63.05666186331277,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -730.8285105944028,
+            -60.45858565195945,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -732.3285105944028,
+            -57.86050944060614,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -733.8285105944028,
+            -55.26243322925282,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -735.3285105944028,
+            -52.664357017899505,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -736.8285105944028,
+            -50.06628080654619,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -738.3285105944028,
+            -47.46820459519287,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -739.8285105944028,
+            -44.87012838383956,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -741.3285105944028,
+            -42.27205217248624,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -742.8285105944028,
+            -39.673975961132925,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -744.3285105944028,
+            -37.07589974977961,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -745.8285105944028,
+            -34.47782353842629,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -747.3285105944028,
+            -31.879747327072977,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -748.8285105944028,
+            -29.28167111571966,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -750.3285105944028,
+            -26.683594904366345,
+            131.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -750.3285105944028,
+            -26.683594904366345,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -751.8285105944028,
+            -24.08551869301303,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -753.3285105944028,
+            -21.487442481659713,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -754.8285105944028,
+            -18.889366270306397,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -756.3285105944028,
+            -16.29129005895308,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -757.8285105944028,
+            -13.693213847599765,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -759.3285105944028,
+            -11.095137636246449,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -760.8285105944028,
+            -8.497061424893133,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -762.3285105944028,
+            -5.898985213539817,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -763.8285105944028,
+            -3.3009090021865006,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -765.3285105944028,
+            -0.7028327908331846,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -766.8285105944028,
+            1.8952434205201314,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -768.3285105944028,
+            4.493319631873447,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -769.8285105944028,
+            7.091395843226763,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -771.3285105944028,
+            9.68947205458008,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -772.8285105944028,
+            12.287548265933395,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -774.3285105944028,
+            14.885624477286711,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -775.8285105944028,
+            17.483700688640027,
+            134.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -775.8285105944028,
+            17.483700688640027,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -775.8285105944028,
+            20.483700688640027,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -775.8285105944028,
+            23.483700688640027,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -775.8285105944028,
+            26.483700688640027,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -775.8285105944028,
+            29.483700688640027,
+            134.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -775.8285105944028,
+            29.483700688640027,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -792.0,
+            64.0,
+            157.028
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-01-18_23-59-04_896504/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-01-18_23-59-04_896504/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8ee9eca06647207e47697a975932461d83aa88ce
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-01-18_23-59-04_896504/pose.jsonl
@@ -0,0 +1,691 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -638.8144478523699,
+            -119.90400150946827,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -641.4125240637231,
+            -121.40400150946827,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -644.0106002750765,
+            -122.90400150946827,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -646.6086764864299,
+            -124.40400150946827,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -649.2067526977833,
+            -125.90400150946827,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -651.8048289091366,
+            -127.40400150946827,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -654.40290512049,
+            -128.90400150946826,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915077
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -654.40290512049,
+            -128.90400150946826,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898064
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -657.40290512049,
+            -128.90400150946826,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -660.40290512049,
+            -128.90400150946826,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -663.40290512049,
+            -128.90400150946826,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -666.40290512049,
+            -128.90400150946826,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -669.40290512049,
+            -128.90400150946826,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -672.40290512049,
+            -128.90400150946826,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -675.40290512049,
+            -128.90400150946826,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -678.40290512049,
+            -128.90400150946826,
+            131.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -678.40290512049,
+            -128.90400150946826,
+            134.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -678.40290512049,
+            -128.90400150946826,
+            137.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -678.40290512049,
+            -128.90400150946826,
+            140.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -678.40290512049,
+            -128.90400150946826,
+            143.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -678.40290512049,
+            -128.90400150946826,
+            146.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -678.40290512049,
+            -128.90400150946826,
+            149.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -678.40290512049,
+            -128.90400150946826,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -681.40290512049,
+            -128.90400150946826,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -684.40290512049,
+            -128.90400150946826,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -687.40290512049,
+            -128.90400150946826,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -690.40290512049,
+            -128.90400150946826,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -693.40290512049,
+            -128.90400150946826,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -696.40290512049,
+            -128.90400150946826,
+            152.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -696.40290512049,
+            -128.90400150946826,
+            152.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -696.40290512049,
+            -128.90400150946826,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 4.1887902047863905
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -697.90290512049,
+            -131.50207772082157,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -699.40290512049,
+            -134.1001539321749,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -700.90290512049,
+            -136.6982301435282,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -702.40290512049,
+            -139.29630635488152,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -703.90290512049,
+            -141.89438256623484,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -705.40290512049,
+            -144.49245877758815,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -706.90290512049,
+            -147.09053498894147,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -708.40290512049,
+            -149.6886112002948,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -709.90290512049,
+            -152.2866874116481,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -711.40290512049,
+            -154.88476362300142,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -712.90290512049,
+            -157.48283983435473,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -714.40290512049,
+            -160.08091604570805,
+            152.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -714.40290512049,
+            -160.08091604570805,
+            149.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -715.90290512049,
+            -162.67899225706137,
+            149.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -715.90290512049,
+            -162.67899225706137,
+            146.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -715.90290512049,
+            -162.67899225706137,
+            143.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -715.90290512049,
+            -162.67899225706137,
+            140.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -715.90290512049,
+            -162.67899225706137,
+            137.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -715.90290512049,
+            -162.67899225706137,
+            134.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -715.90290512049,
+            -162.67899225706137,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -717.40290512049,
+            -165.27706846841468,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -744.0,
+            -184.0,
+            147.579
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-01-19_00-02-47_231469/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_00-02-47_231469/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f9434ee7cf7cec53f433bbe9456cda69d5640254
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_00-02-47_231469/pose.jsonl
@@ -0,0 +1,509 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            188.48110761526027,
+            -102.33996328648692,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            185.88303140390695,
+            -100.83996328648692,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            183.28495519255364,
+            -99.33996328648692,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            180.68687898120032,
+            -97.83996328648692,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            178.088802769847,
+            -96.33996328648692,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            175.4907265584937,
+            -94.83996328648692,
+            131.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            175.4907265584937,
+            -94.83996328648692,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            172.89265034714037,
+            -93.33996328648692,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            170.29457413578706,
+            -91.83996328648692,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            167.69649792443374,
+            -90.33996328648692,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            165.09842171308043,
+            -88.83996328648692,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            162.5003455017271,
+            -87.33996328648692,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            159.9022692903738,
+            -85.83996328648692,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            157.30419307902048,
+            -84.33996328648692,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            154.70611686766716,
+            -82.83996328648692,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            152.10804065631385,
+            -81.33996328648692,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            149.50996444496053,
+            -79.83996328648692,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            146.91188823360721,
+            -78.33996328648692,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            144.3138120222539,
+            -76.83996328648692,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            141.71573581090058,
+            -75.33996328648692,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            139.11765959954727,
+            -73.83996328648692,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            136.51958338819395,
+            -72.33996328648692,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            133.92150717684063,
+            -70.83996328648692,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            131.32343096548732,
+            -69.33996328648692,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            128.725354754134,
+            -67.83996328648692,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            126.12727854278069,
+            -66.33996328648692,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            123.52920233142737,
+            -64.83996328648692,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            120.93112612007405,
+            -63.33996328648692,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            118.33304990872074,
+            -61.83996328648692,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            115.73497369736742,
+            -60.33996328648692,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            113.1368974860141,
+            -58.83996328648692,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            110.53882127466079,
+            -57.33996328648692,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            107.94074506330747,
+            -55.83996328648692,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            105.34266885195416,
+            -54.33996328648692,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            102.74459264060084,
+            -52.83996328648692,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            100.14651642924753,
+            -51.33996328648692,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            97.54844021789421,
+            -49.83996328648692,
+            134.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            97.54844021789421,
+            -49.83996328648692,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            72.0,
+            -36.0,
+            146.253
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-01-19_00-17-55_142233/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_00-17-55_142233/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ceea5ec1928744b95a3e4e9d8ecc11ef8a6361be
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_00-17-55_142233/pose.jsonl
@@ -0,0 +1,964 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1088.2461010324644,
+            -1499.5684021652796,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1085.2461010324644,
+            -1499.5684021652796,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1082.2461010324644,
+            -1499.5684021652796,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1079.2461010324644,
+            -1499.5684021652796,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1076.2461010324644,
+            -1499.5684021652796,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1073.2461010324644,
+            -1499.5684021652796,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1070.2461010324644,
+            -1499.5684021652796,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1067.2461010324644,
+            -1499.5684021652796,
+            131.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1067.2461010324644,
+            -1499.5684021652796,
+            134.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1067.2461010324644,
+            -1499.5684021652796,
+            137.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1067.2461010324644,
+            -1499.5684021652796,
+            140.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1067.2461010324644,
+            -1499.5684021652796,
+            143.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1067.2461010324644,
+            -1499.5684021652796,
+            146.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1067.2461010324644,
+            -1499.5684021652796,
+            149.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1067.2461010324644,
+            -1499.5684021652796,
+            152.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1067.2461010324644,
+            -1499.5684021652796,
+            155.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1067.2461010324644,
+            -1499.5684021652796,
+            158.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1067.2461010324644,
+            -1499.5684021652796,
+            161.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1067.2461010324644,
+            -1499.5684021652796,
+            164.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1067.2461010324644,
+            -1499.5684021652796,
+            167.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1067.2461010324644,
+            -1499.5684021652796,
+            170.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1067.2461010324644,
+            -1499.5684021652796,
+            173.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1067.2461010324644,
+            -1499.5684021652796,
+            176.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1067.2461010324644,
+            -1499.5684021652796,
+            179.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1067.2461010324644,
+            -1499.5684021652796,
+            182.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1067.2461010324644,
+            -1499.5684021652796,
+            185.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1067.2461010324644,
+            -1499.5684021652796,
+            188.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1064.2461010324644,
+            -1499.5684021652796,
+            188.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1061.2461010324644,
+            -1499.5684021652796,
+            188.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1058.2461010324644,
+            -1499.5684021652796,
+            188.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1055.2461010324644,
+            -1499.5684021652796,
+            188.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1052.2461010324644,
+            -1499.5684021652796,
+            188.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1049.2461010324644,
+            -1499.5684021652796,
+            188.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1046.2461010324644,
+            -1499.5684021652796,
+            188.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1043.2461010324644,
+            -1499.5684021652796,
+            188.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1043.2461010324644,
+            -1499.5684021652796,
+            185.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1043.2461010324644,
+            -1499.5684021652796,
+            182.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1043.2461010324644,
+            -1499.5684021652796,
+            179.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1043.2461010324644,
+            -1499.5684021652796,
+            176.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1043.2461010324644,
+            -1499.5684021652796,
+            173.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1043.2461010324644,
+            -1499.5684021652796,
+            170.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1043.2461010324644,
+            -1499.5684021652796,
+            170.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1043.2461010324644,
+            -1499.5684021652796,
+            170.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1041.7461010324644,
+            -1496.9703259539262,
+            170.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1040.2461010324644,
+            -1494.3722497425729,
+            170.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1038.7461010324644,
+            -1491.7741735312195,
+            170.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1037.2461010324644,
+            -1489.1760973198661,
+            170.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1035.7461010324644,
+            -1486.5780211085128,
+            170.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1035.7461010324644,
+            -1486.5780211085128,
+            170.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1033.148024821111,
+            -1485.0780211085128,
+            170.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1030.5499486097576,
+            -1483.5780211085128,
+            170.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            1027.9518723984042,
+            -1482.0780211085128,
+            170.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            1025.3537961870509,
+            -1480.5780211085128,
+            170.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            1022.7557199756975,
+            -1479.0780211085128,
+            170.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            1020.1576437643441,
+            -1477.5780211085128,
+            170.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            1020.1576437643441,
+            -1477.5780211085128,
+            167.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            1020.1576437643441,
+            -1477.5780211085128,
+            164.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            1020.1576437643441,
+            -1477.5780211085128,
+            161.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            1020.1576437643441,
+            -1477.5780211085128,
+            158.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            1020.1576437643441,
+            -1477.5780211085128,
+            155.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            1020.1576437643441,
+            -1477.5780211085128,
+            152.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            1020.1576437643441,
+            -1477.5780211085128,
+            149.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            1020.1576437643441,
+            -1477.5780211085128,
+            146.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            1020.1576437643441,
+            -1477.5780211085128,
+            143.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            1020.1576437643441,
+            -1477.5780211085128,
+            140.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            1017.5595675529908,
+            -1476.0780211085128,
+            140.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            1014.9614913416374,
+            -1474.5780211085128,
+            140.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            1012.363415130284,
+            -1473.0780211085128,
+            140.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            1009.7653389189306,
+            -1471.5780211085128,
+            140.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            1009.7653389189306,
+            -1471.5780211085128,
+            137.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            1009.7653389189306,
+            -1471.5780211085128,
+            134.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            1009.7653389189306,
+            -1471.5780211085128,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            1006.7653389189306,
+            -1471.5780211085128,
+            134.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            960.0,
+            -1456.0,
+            192.957
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-01-19_00-26-36_359373/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_00-26-36_359373/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3c3a875a49eb6e84b0011e50b1faace3bc1c2efb
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_00-26-36_359373/pose.jsonl
@@ -0,0 +1,1861 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -53.66907682714352,
+            42.12971883900909,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -55.16907682714352,
+            39.53164262765577,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -56.66907682714352,
+            36.933566416302455,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -58.16907682714352,
+            34.33549020494914,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -59.66907682714352,
+            31.737413993595823,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -61.16907682714352,
+            29.139337782242507,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -61.16907682714352,
+            29.139337782242507,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -63.767153038496836,
+            27.639337782242507,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -66.36522924985016,
+            26.139337782242507,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914957
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -68.96330546120348,
+            24.639337782242507,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -71.56138167255679,
+            23.139337782242507,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -74.15945788391011,
+            21.639337782242507,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -76.75753409526342,
+            20.139337782242507,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -79.35561030661674,
+            18.639337782242507,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -81.95368651797006,
+            17.139337782242507,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -84.55176272932337,
+            15.639337782242507,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -87.14983894067669,
+            14.139337782242507,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -89.74791515203,
+            12.639337782242507,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -92.34599136338332,
+            11.139337782242507,
+            131.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -92.34599136338332,
+            11.139337782242507,
+            134.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -92.34599136338332,
+            11.139337782242507,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -95.34599136338332,
+            11.139337782242507,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -98.34599136338332,
+            11.139337782242507,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -101.34599136338332,
+            11.139337782242507,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -104.34599136338332,
+            11.139337782242507,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -107.34599136338332,
+            11.139337782242507,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -110.34599136338332,
+            11.139337782242507,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -113.34599136338332,
+            11.139337782242507,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -116.34599136338332,
+            11.139337782242507,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -119.34599136338332,
+            11.139337782242507,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -122.34599136338332,
+            11.139337782242507,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -125.34599136338332,
+            11.139337782242507,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -128.34599136338332,
+            11.139337782242507,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -131.34599136338332,
+            11.139337782242507,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -134.34599136338332,
+            11.139337782242507,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -137.34599136338332,
+            11.139337782242507,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -140.34599136338332,
+            11.139337782242507,
+            134.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -140.34599136338332,
+            11.139337782242507,
+            137.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -140.34599136338332,
+            11.139337782242507,
+            140.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -140.34599136338332,
+            11.139337782242507,
+            143.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -140.34599136338332,
+            11.139337782242507,
+            146.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -140.34599136338332,
+            11.139337782242507,
+            149.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -140.34599136338332,
+            11.139337782242507,
+            152.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -140.34599136338332,
+            11.139337782242507,
+            155.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -140.34599136338332,
+            11.139337782242507,
+            158.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -140.34599136338332,
+            11.139337782242507,
+            161.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -140.34599136338332,
+            11.139337782242507,
+            164.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -140.34599136338332,
+            11.139337782242507,
+            167.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -140.34599136338332,
+            11.139337782242507,
+            170.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -140.34599136338332,
+            11.139337782242507,
+            173.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -140.34599136338332,
+            11.139337782242507,
+            176.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -140.34599136338332,
+            11.139337782242507,
+            179.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -140.34599136338332,
+            11.139337782242507,
+            182.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -140.34599136338332,
+            11.139337782242507,
+            185.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -140.34599136338332,
+            11.139337782242507,
+            188.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -140.34599136338332,
+            11.139337782242507,
+            191.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -140.34599136338332,
+            11.139337782242507,
+            194.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -140.34599136338332,
+            11.139337782242507,
+            197.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -140.34599136338332,
+            11.139337782242507,
+            200.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            -140.34599136338332,
+            11.139337782242507,
+            203.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            -140.34599136338332,
+            11.139337782242507,
+            206.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            -140.34599136338332,
+            11.139337782242507,
+            209.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            -140.34599136338332,
+            11.139337782242507,
+            212.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            -140.34599136338332,
+            11.139337782242507,
+            215.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            -140.34599136338332,
+            11.139337782242507,
+            218.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            -140.34599136338332,
+            11.139337782242507,
+            221.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            -140.34599136338332,
+            11.139337782242507,
+            224.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            -140.34599136338332,
+            11.139337782242507,
+            227.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            -140.34599136338332,
+            11.139337782242507,
+            230.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            -140.34599136338332,
+            11.139337782242507,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            -142.94406757473664,
+            9.639337782242507,
+            230.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            -142.94406757473664,
+            9.639337782242507,
+            230.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            -142.94406757473664,
+            9.639337782242507,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948968
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            -142.94406757473664,
+            6.639337782242507,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            -142.94406757473664,
+            3.6393377822425066,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            -142.94406757473664,
+            0.6393377822425066,
+            230.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            -142.94406757473664,
+            0.6393377822425066,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            -141.44406757473664,
+            -1.9587384291108094,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            -139.94406757473664,
+            -4.556814640464125,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            -138.44406757473664,
+            -7.154890851817441,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            -136.94406757473664,
+            -9.752967063170757,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            -135.44406757473664,
+            -12.351043274524073,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            -133.94406757473664,
+            -14.94911948587739,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            -132.44406757473664,
+            -17.547195697230705,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 84,
+        "pos": [
+            -130.94406757473664,
+            -20.14527190858402,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 85,
+        "pos": [
+            -129.44406757473664,
+            -22.743348119937338,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 86,
+        "pos": [
+            -127.94406757473664,
+            -25.341424331290654,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 87,
+        "pos": [
+            -126.44406757473664,
+            -27.93950054264397,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 88,
+        "pos": [
+            -124.94406757473664,
+            -30.537576753997286,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 89,
+        "pos": [
+            -123.44406757473664,
+            -33.1356529653506,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 90,
+        "pos": [
+            -121.94406757473664,
+            -35.73372917670392,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 91,
+        "pos": [
+            -120.44406757473664,
+            -38.331805388057234,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 92,
+        "pos": [
+            -118.94406757473664,
+            -40.92988159941055,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 93,
+        "pos": [
+            -117.44406757473664,
+            -43.527957810763866,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 94,
+        "pos": [
+            -115.94406757473664,
+            -46.12603402211718,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 95,
+        "pos": [
+            -114.44406757473664,
+            -48.7241102334705,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 96,
+        "pos": [
+            -112.94406757473664,
+            -51.322186444823814,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 97,
+        "pos": [
+            -111.44406757473664,
+            -53.92026265617713,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 98,
+        "pos": [
+            -109.94406757473664,
+            -56.518338867530446,
+            230.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 99,
+        "pos": [
+            -109.94406757473664,
+            -56.518338867530446,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 100,
+        "pos": [
+            -107.34599136338332,
+            -58.018338867530446,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 101,
+        "pos": [
+            -104.74791515203,
+            -59.518338867530446,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 102,
+        "pos": [
+            -102.14983894067669,
+            -61.018338867530446,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 103,
+        "pos": [
+            -99.55176272932337,
+            -62.518338867530446,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 104,
+        "pos": [
+            -96.95368651797006,
+            -64.01833886753045,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 105,
+        "pos": [
+            -94.35561030661674,
+            -65.51833886753045,
+            230.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 106,
+        "pos": [
+            -94.35561030661674,
+            -65.51833886753045,
+            227.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 107,
+        "pos": [
+            -94.35561030661674,
+            -65.51833886753045,
+            224.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 108,
+        "pos": [
+            -94.35561030661674,
+            -65.51833886753045,
+            221.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 109,
+        "pos": [
+            -94.35561030661674,
+            -65.51833886753045,
+            218.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 110,
+        "pos": [
+            -94.35561030661674,
+            -65.51833886753045,
+            215.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 111,
+        "pos": [
+            -94.35561030661674,
+            -65.51833886753045,
+            212.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 112,
+        "pos": [
+            -94.35561030661674,
+            -65.51833886753045,
+            209.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 113,
+        "pos": [
+            -94.35561030661674,
+            -65.51833886753045,
+            206.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 114,
+        "pos": [
+            -94.35561030661674,
+            -65.51833886753045,
+            203.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 115,
+        "pos": [
+            -94.35561030661674,
+            -65.51833886753045,
+            200.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 116,
+        "pos": [
+            -94.35561030661674,
+            -65.51833886753045,
+            197.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 117,
+        "pos": [
+            -94.35561030661674,
+            -65.51833886753045,
+            194.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 118,
+        "pos": [
+            -94.35561030661674,
+            -65.51833886753045,
+            191.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 119,
+        "pos": [
+            -94.35561030661674,
+            -65.51833886753045,
+            188.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 120,
+        "pos": [
+            -94.35561030661674,
+            -65.51833886753045,
+            185.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 121,
+        "pos": [
+            -94.35561030661674,
+            -65.51833886753045,
+            182.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 122,
+        "pos": [
+            -94.35561030661674,
+            -65.51833886753045,
+            179.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 123,
+        "pos": [
+            -94.35561030661674,
+            -65.51833886753045,
+            176.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 124,
+        "pos": [
+            -94.35561030661674,
+            -65.51833886753045,
+            173.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 125,
+        "pos": [
+            -94.35561030661674,
+            -65.51833886753045,
+            170.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 126,
+        "pos": [
+            -94.35561030661674,
+            -65.51833886753045,
+            167.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 127,
+        "pos": [
+            -94.35561030661674,
+            -65.51833886753045,
+            164.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 128,
+        "pos": [
+            -94.35561030661674,
+            -65.51833886753045,
+            161.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 129,
+        "pos": [
+            -94.35561030661674,
+            -65.51833886753045,
+            158.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 130,
+        "pos": [
+            -94.35561030661674,
+            -65.51833886753045,
+            155.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 131,
+        "pos": [
+            -94.35561030661674,
+            -65.51833886753045,
+            152.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 132,
+        "pos": [
+            -94.35561030661674,
+            -65.51833886753045,
+            149.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 133,
+        "pos": [
+            -94.35561030661674,
+            -65.51833886753045,
+            146.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 134,
+        "pos": [
+            -94.35561030661674,
+            -65.51833886753045,
+            143.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 135,
+        "pos": [
+            -94.35561030661674,
+            -65.51833886753045,
+            140.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 136,
+        "pos": [
+            -94.35561030661674,
+            -65.51833886753045,
+            137.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 137,
+        "pos": [
+            -94.35561030661674,
+            -65.51833886753045,
+            134.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 138,
+        "pos": [
+            -94.35561030661674,
+            -65.51833886753045,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 139,
+        "pos": [
+            -94.35561030661674,
+            -65.51833886753045,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 140,
+        "pos": [
+            -94.35561030661674,
+            -65.51833886753045,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 141,
+        "pos": [
+            -94.35561030661674,
+            -68.51833886753045,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -104.0,
+            -96.0,
+            248.592
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-01-19_00-28-50_135921/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_00-28-50_135921/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7df0313291f4b4b278f233b712c75fe898a592fc
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_00-28-50_135921/pose.jsonl
@@ -0,0 +1,613 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -727.9894547862345,
+            -79.10483688620785,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -727.9894547862345,
+            -82.10483688620785,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -727.9894547862345,
+            -85.10483688620785,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -727.9894547862345,
+            -88.10483688620785,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -727.9894547862345,
+            -91.10483688620785,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -727.9894547862345,
+            -94.10483688620785,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -727.9894547862345,
+            -97.10483688620785,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -727.9894547862345,
+            -100.10483688620785,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -727.9894547862345,
+            -103.10483688620785,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -727.9894547862345,
+            -106.10483688620785,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -727.9894547862345,
+            -109.10483688620785,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -727.9894547862345,
+            -112.10483688620785,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -727.9894547862345,
+            -115.10483688620785,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -727.9894547862345,
+            -118.10483688620785,
+            131.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -727.9894547862345,
+            -118.10483688620785,
+            134.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -727.9894547862345,
+            -118.10483688620785,
+            137.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -727.9894547862345,
+            -118.10483688620785,
+            140.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -727.9894547862345,
+            -118.10483688620785,
+            143.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -727.9894547862345,
+            -118.10483688620785,
+            146.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -727.9894547862345,
+            -118.10483688620785,
+            149.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -727.9894547862345,
+            -118.10483688620785,
+            149.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -726.4894547862345,
+            -120.70291309756117,
+            149.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -726.4894547862345,
+            -120.70291309756117,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -724.9894547862345,
+            -123.30098930891448,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -723.4894547862345,
+            -125.8990655202678,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -721.9894547862345,
+            -128.49714173162113,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -720.4894547862345,
+            -131.09521794297444,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -718.9894547862345,
+            -133.69329415432776,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -717.4894547862345,
+            -136.29137036568108,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -715.9894547862345,
+            -138.8894465770344,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -714.4894547862345,
+            -141.4875227883877,
+            152.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -714.4894547862345,
+            -141.4875227883877,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -714.4894547862345,
+            -144.4875227883877,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -714.4894547862345,
+            -147.4875227883877,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -714.4894547862345,
+            -150.4875227883877,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -714.4894547862345,
+            -153.4875227883877,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -714.4894547862345,
+            -156.4875227883877,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -714.4894547862345,
+            -159.4875227883877,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -714.4894547862345,
+            -162.4875227883877,
+            152.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -714.4894547862345,
+            -162.4875227883877,
+            149.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -714.4894547862345,
+            -162.4875227883877,
+            146.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -714.4894547862345,
+            -162.4875227883877,
+            143.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -714.4894547862345,
+            -162.4875227883877,
+            140.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -714.4894547862345,
+            -162.4875227883877,
+            137.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -714.4894547862345,
+            -162.4875227883877,
+            134.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -714.4894547862345,
+            -162.4875227883877,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -708.0,
+            -200.0,
+            147.68
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-01-19_00-40-21_352372/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_00-40-21_352372/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ad530032fe2296c10b97c531c12c1e64d1428d5a
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_00-40-21_352372/pose.jsonl
@@ -0,0 +1,561 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -644.592133272222,
+            -155.17059912915033,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -647.1902094835752,
+            -156.67059912915033,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -649.7882856949286,
+            -158.17059912915033,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -652.386361906282,
+            -159.67059912915033,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -654.9844381176354,
+            -161.17059912915033,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -657.5825143289887,
+            -162.67059912915033,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -660.1805905403421,
+            -164.17059912915033,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -662.7786667516955,
+            -165.67059912915033,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -665.3767429630489,
+            -167.17059912915033,
+            131.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -665.3767429630489,
+            -167.17059912915033,
+            134.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -665.3767429630489,
+            -167.17059912915033,
+            137.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -665.3767429630489,
+            -167.17059912915033,
+            140.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -665.3767429630489,
+            -167.17059912915033,
+            143.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -665.3767429630489,
+            -167.17059912915033,
+            146.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -665.3767429630489,
+            -167.17059912915033,
+            149.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -665.3767429630489,
+            -167.17059912915033,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -667.9748191744022,
+            -168.67059912915033,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -670.5728953857556,
+            -170.17059912915033,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -673.170971597109,
+            -171.67059912915033,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -675.7690478084623,
+            -173.17059912915033,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -678.3671240198157,
+            -174.67059912915033,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -680.9652002311691,
+            -176.17059912915033,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -683.5632764425225,
+            -177.67059912915033,
+            152.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -683.5632764425225,
+            -177.67059912915033,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -686.5632764425225,
+            -177.67059912915033,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -689.5632764425225,
+            -177.67059912915033,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -692.5632764425225,
+            -177.67059912915033,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -695.5632764425225,
+            -177.67059912915033,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -698.5632764425225,
+            -177.67059912915033,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -701.5632764425225,
+            -177.67059912915033,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -704.5632764425225,
+            -177.67059912915033,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -707.5632764425225,
+            -177.67059912915033,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -710.5632764425225,
+            -177.67059912915033,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -713.5632764425225,
+            -177.67059912915033,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -716.5632764425225,
+            -177.67059912915033,
+            152.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -716.5632764425225,
+            -177.67059912915033,
+            149.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -716.5632764425225,
+            -177.67059912915033,
+            146.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -716.5632764425225,
+            -177.67059912915033,
+            143.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -716.5632764425225,
+            -177.67059912915033,
+            140.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -716.5632764425225,
+            -177.67059912915033,
+            137.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -716.5632764425225,
+            -177.67059912915033,
+            134.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -716.5632764425225,
+            -177.67059912915033,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -744.0,
+            -184.0,
+            147.579
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-01-19_00-41-00_892454/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_00-41-00_892454/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5e02985062531198e01b3e4197bc0cb4baa8f574
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_00-41-00_892454/pose.jsonl
@@ -0,0 +1,1419 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -140.86986708409194,
+            36.41311469038445,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -140.86986708409194,
+            33.41311469038445,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -140.86986708409194,
+            30.413114690384447,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -140.86986708409194,
+            27.413114690384447,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -140.86986708409194,
+            24.413114690384447,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -140.86986708409194,
+            21.413114690384447,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -140.86986708409194,
+            18.413114690384447,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -140.86986708409194,
+            15.413114690384447,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -140.86986708409194,
+            12.413114690384447,
+            131.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -140.86986708409194,
+            12.413114690384447,
+            134.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -140.86986708409194,
+            12.413114690384447,
+            137.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -140.86986708409194,
+            12.413114690384447,
+            140.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -140.86986708409194,
+            12.413114690384447,
+            143.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -140.86986708409194,
+            12.413114690384447,
+            146.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -140.86986708409194,
+            12.413114690384447,
+            149.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -140.86986708409194,
+            12.413114690384447,
+            152.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -140.86986708409194,
+            12.413114690384447,
+            155.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -140.86986708409194,
+            12.413114690384447,
+            158.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -140.86986708409194,
+            12.413114690384447,
+            161.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -140.86986708409194,
+            12.413114690384447,
+            164.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -140.86986708409194,
+            12.413114690384447,
+            167.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -140.86986708409194,
+            12.413114690384447,
+            170.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -140.86986708409194,
+            12.413114690384447,
+            173.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -140.86986708409194,
+            12.413114690384447,
+            176.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -140.86986708409194,
+            12.413114690384447,
+            179.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -140.86986708409194,
+            12.413114690384447,
+            182.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -140.86986708409194,
+            12.413114690384447,
+            185.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -140.86986708409194,
+            12.413114690384447,
+            188.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -140.86986708409194,
+            12.413114690384447,
+            191.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -140.86986708409194,
+            12.413114690384447,
+            194.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -140.86986708409194,
+            12.413114690384447,
+            197.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -140.86986708409194,
+            12.413114690384447,
+            200.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -140.86986708409194,
+            12.413114690384447,
+            203.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -140.86986708409194,
+            12.413114690384447,
+            206.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -140.86986708409194,
+            12.413114690384447,
+            209.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -140.86986708409194,
+            12.413114690384447,
+            212.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -140.86986708409194,
+            12.413114690384447,
+            215.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -140.86986708409194,
+            12.413114690384447,
+            218.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -140.86986708409194,
+            12.413114690384447,
+            221.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -140.86986708409194,
+            12.413114690384447,
+            224.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -140.86986708409194,
+            12.413114690384447,
+            227.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -140.86986708409194,
+            12.413114690384447,
+            230.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -140.86986708409194,
+            12.413114690384447,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -142.36986708409194,
+            9.81503847903113,
+            230.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -142.36986708409194,
+            9.81503847903113,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -142.36986708409194,
+            6.815038479031131,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -142.36986708409194,
+            3.8150384790311307,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -142.36986708409194,
+            0.8150384790311307,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -142.36986708409194,
+            -2.1849615209688693,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -142.36986708409194,
+            -5.184961520968869,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -142.36986708409194,
+            -8.18496152096887,
+            230.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -142.36986708409194,
+            -8.18496152096887,
+            227.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -142.36986708409194,
+            -8.18496152096887,
+            224.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -142.36986708409194,
+            -8.18496152096887,
+            221.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -142.36986708409194,
+            -8.18496152096887,
+            218.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -142.36986708409194,
+            -8.18496152096887,
+            215.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -142.36986708409194,
+            -8.18496152096887,
+            212.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -142.36986708409194,
+            -8.18496152096887,
+            209.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -142.36986708409194,
+            -8.18496152096887,
+            206.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            -142.36986708409194,
+            -8.18496152096887,
+            203.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            -142.36986708409194,
+            -8.18496152096887,
+            200.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            -142.36986708409194,
+            -8.18496152096887,
+            197.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            -142.36986708409194,
+            -8.18496152096887,
+            194.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            -142.36986708409194,
+            -8.18496152096887,
+            194.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            -140.86986708409194,
+            -10.783037732322185,
+            194.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            -139.36986708409194,
+            -13.381113943675501,
+            194.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            -137.86986708409194,
+            -15.979190155028817,
+            194.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            -136.36986708409194,
+            -18.577266366382133,
+            194.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            -134.86986708409194,
+            -21.17534257773545,
+            194.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            -133.36986708409194,
+            -23.773418789088765,
+            194.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            -131.86986708409194,
+            -26.37149500044208,
+            194.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            -130.36986708409194,
+            -28.969571211795397,
+            194.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            -128.86986708409194,
+            -31.567647423148713,
+            194.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            -127.36986708409194,
+            -34.16572363450203,
+            194.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            -125.86986708409194,
+            -36.763799845855345,
+            194.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            -124.36986708409194,
+            -39.36187605720866,
+            194.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            -122.86986708409194,
+            -41.95995226856198,
+            194.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            -121.36986708409194,
+            -44.55802847991529,
+            194.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            -119.86986708409194,
+            -47.15610469126861,
+            194.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            -118.36986708409194,
+            -49.754180902621925,
+            194.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            -118.36986708409194,
+            -49.754180902621925,
+            191.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            -118.36986708409194,
+            -49.754180902621925,
+            188.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            -118.36986708409194,
+            -49.754180902621925,
+            185.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            -118.36986708409194,
+            -49.754180902621925,
+            182.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 84,
+        "pos": [
+            -118.36986708409194,
+            -49.754180902621925,
+            179.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 85,
+        "pos": [
+            -118.36986708409194,
+            -49.754180902621925,
+            176.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 86,
+        "pos": [
+            -118.36986708409194,
+            -49.754180902621925,
+            173.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 87,
+        "pos": [
+            -118.36986708409194,
+            -49.754180902621925,
+            170.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 88,
+        "pos": [
+            -118.36986708409194,
+            -49.754180902621925,
+            167.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 89,
+        "pos": [
+            -118.36986708409194,
+            -49.754180902621925,
+            164.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 90,
+        "pos": [
+            -118.36986708409194,
+            -49.754180902621925,
+            161.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 91,
+        "pos": [
+            -118.36986708409194,
+            -49.754180902621925,
+            158.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 92,
+        "pos": [
+            -118.36986708409194,
+            -49.754180902621925,
+            155.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 93,
+        "pos": [
+            -118.36986708409194,
+            -49.754180902621925,
+            152.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 94,
+        "pos": [
+            -118.36986708409194,
+            -49.754180902621925,
+            149.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 95,
+        "pos": [
+            -118.36986708409194,
+            -49.754180902621925,
+            146.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 96,
+        "pos": [
+            -116.86986708409194,
+            -52.35225711397524,
+            146.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 97,
+        "pos": [
+            -115.36986708409194,
+            -54.95033332532856,
+            146.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 98,
+        "pos": [
+            -113.86986708409194,
+            -57.54840953668187,
+            146.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 99,
+        "pos": [
+            -112.36986708409194,
+            -60.14648574803519,
+            146.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 100,
+        "pos": [
+            -112.36986708409194,
+            -60.14648574803519,
+            143.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 101,
+        "pos": [
+            -112.36986708409194,
+            -60.14648574803519,
+            140.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 102,
+        "pos": [
+            -112.36986708409194,
+            -60.14648574803519,
+            137.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 103,
+        "pos": [
+            -112.36986708409194,
+            -60.14648574803519,
+            134.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 104,
+        "pos": [
+            -112.36986708409194,
+            -60.14648574803519,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 105,
+        "pos": [
+            -112.36986708409194,
+            -63.14648574803519,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 106,
+        "pos": [
+            -112.36986708409194,
+            -66.14648574803519,
+            134.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 107,
+        "pos": [
+            -112.36986708409194,
+            -66.14648574803519,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -104.0,
+            -96.0,
+            248.592
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-01-19_00-43-31_792207/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_00-43-31_792207/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9a066cb4bc5a55f3a22d883e272349b8cf38ae8a
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_00-43-31_792207/pose.jsonl
@@ -0,0 +1,639 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -748.2970556196618,
+            -100.8578409555856,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -746.7970556196618,
+            -103.45591716693892,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -745.2970556196618,
+            -106.05399337829223,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -743.7970556196618,
+            -108.65206958964555,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -742.2970556196618,
+            -111.25014580099887,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -740.7970556196618,
+            -113.84822201235218,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -739.2970556196618,
+            -116.4462982237055,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -737.7970556196618,
+            -119.04437443505881,
+            131.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -737.7970556196618,
+            -119.04437443505881,
+            134.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -737.7970556196618,
+            -119.04437443505881,
+            137.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -737.7970556196618,
+            -119.04437443505881,
+            140.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -737.7970556196618,
+            -119.04437443505881,
+            143.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -737.7970556196618,
+            -119.04437443505881,
+            146.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -737.7970556196618,
+            -119.04437443505881,
+            149.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -737.7970556196618,
+            -119.04437443505881,
+            152.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -737.7970556196618,
+            -119.04437443505881,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -737.7970556196618,
+            -122.04437443505881,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -737.7970556196618,
+            -125.04437443505881,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -737.7970556196618,
+            -128.0443744350588,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -737.7970556196618,
+            -131.0443744350588,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -737.7970556196618,
+            -134.0443744350588,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -737.7970556196618,
+            -137.0443744350588,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -737.7970556196618,
+            -140.0443744350588,
+            152.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -737.7970556196618,
+            -140.0443744350588,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -736.2970556196618,
+            -142.64245064641213,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -734.7970556196618,
+            -145.24052685776545,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -733.2970556196618,
+            -147.83860306911876,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -731.7970556196618,
+            -150.43667928047208,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -730.2970556196618,
+            -153.0347554918254,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -728.7970556196618,
+            -155.6328317031787,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -727.2970556196618,
+            -158.23090791453203,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -725.7970556196618,
+            -160.82898412588534,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -724.2970556196618,
+            -163.42706033723866,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -722.7970556196618,
+            -166.02513654859197,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -721.2970556196618,
+            -168.6232127599453,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -719.7970556196618,
+            -171.2212889712986,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -718.2970556196618,
+            -173.81936518265192,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -716.7970556196618,
+            -176.41744139400524,
+            152.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -716.7970556196618,
+            -176.41744139400524,
+            149.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -716.7970556196618,
+            -176.41744139400524,
+            146.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -716.7970556196618,
+            -176.41744139400524,
+            143.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -716.7970556196618,
+            -176.41744139400524,
+            140.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -716.7970556196618,
+            -176.41744139400524,
+            137.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -716.7970556196618,
+            -176.41744139400524,
+            134.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -716.7970556196618,
+            -176.41744139400524,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -716.7970556196618,
+            -179.41744139400524,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -716.7970556196618,
+            -182.41744139400524,
+            134.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -716.7970556196618,
+            -182.41744139400524,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -708.0,
+            -200.0,
+            147.68
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-01-19_00-48-37_113995/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_00-48-37_113995/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8d7689ca9201605e88a79eba14fc7c147eafc72f
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_00-48-37_113995/pose.jsonl
@@ -0,0 +1,587 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -700.1920022823297,
+            -53.13151701833088,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -701.6920022823297,
+            -50.533440806977566,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -703.1920022823297,
+            -47.93536459562425,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -704.6920022823297,
+            -45.337288384270934,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -706.1920022823297,
+            -42.73921217291762,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -707.6920022823297,
+            -40.1411359615643,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -709.1920022823297,
+            -37.543059750210986,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -710.6920022823297,
+            -34.94498353885767,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -712.1920022823297,
+            -32.346907327504354,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -713.6920022823297,
+            -29.748831116151038,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -715.1920022823297,
+            -27.150754904797722,
+            131.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -715.1920022823297,
+            -27.150754904797722,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -716.6920022823297,
+            -24.552678693444406,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -718.1920022823297,
+            -21.95460248209109,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -719.6920022823297,
+            -19.356526270737774,
+            134.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -719.6920022823297,
+            -19.356526270737774,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -719.6920022823297,
+            -16.356526270737774,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -719.6920022823297,
+            -13.356526270737774,
+            134.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -719.6920022823297,
+            -13.356526270737774,
+            134.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -719.6920022823297,
+            -13.356526270737774,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -722.290078493683,
+            -11.856526270737774,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -724.8881547050364,
+            -10.356526270737774,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -727.4862309163898,
+            -8.856526270737774,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -730.0843071277432,
+            -7.356526270737774,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -732.6823833390965,
+            -5.856526270737774,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -735.2804595504499,
+            -4.356526270737774,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -737.8785357618033,
+            -2.856526270737774,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -740.4766119731567,
+            -1.3565262707377743,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -743.07468818451,
+            0.14347372926222546,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -745.6727643958634,
+            1.6434737292622252,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -748.2708406072168,
+            3.143473729262225,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -750.8689168185701,
+            4.643473729262225,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -753.4669930299235,
+            6.143473729262225,
+            134.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -753.4669930299235,
+            6.143473729262225,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -754.9669930299235,
+            8.741549940615542,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -756.4669930299235,
+            11.339626151968858,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -757.9669930299235,
+            13.937702363322174,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -759.4669930299235,
+            16.53577857467549,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -760.9669930299235,
+            19.133854786028806,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -762.4669930299235,
+            21.731930997382122,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -763.9669930299235,
+            24.330007208735438,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -765.4669930299235,
+            26.928083420088754,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -766.9669930299235,
+            29.52615963144207,
+            134.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -766.9669930299235,
+            29.52615963144207,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -792.0,
+            64.0,
+            157.028
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-01-19_00-51-03_724128/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_00-51-03_724128/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..eb52c70f2b28c4685be7f2df165d9f2ceb79839c
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_00-51-03_724128/pose.jsonl
@@ -0,0 +1,665 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -633.2479920323987,
+            -147.09722109876867,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -635.8460682437519,
+            -148.59722109876867,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -638.4441444551053,
+            -150.09722109876867,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -641.0422206664587,
+            -151.59722109876867,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -643.640296877812,
+            -153.09722109876867,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -646.2383730891654,
+            -154.59722109876867,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -648.8364493005188,
+            -156.09722109876867,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -651.4345255118722,
+            -157.59722109876867,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -654.0326017232255,
+            -159.09722109876867,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -656.6306779345789,
+            -160.59722109876867,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -659.2287541459323,
+            -162.09722109876867,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -661.8268303572856,
+            -163.59722109876867,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -664.424906568639,
+            -165.09722109876867,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -664.424906568639,
+            -165.09722109876867,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -665.924906568639,
+            -167.695297310122,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -667.424906568639,
+            -170.2933735214753,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -667.424906568639,
+            -170.2933735214753,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -667.424906568639,
+            -170.2933735214753,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -670.424906568639,
+            -170.2933735214753,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -673.424906568639,
+            -170.2933735214753,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -676.424906568639,
+            -170.2933735214753,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -679.424906568639,
+            -170.2933735214753,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -682.424906568639,
+            -170.2933735214753,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -685.424906568639,
+            -170.2933735214753,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -688.424906568639,
+            -170.2933735214753,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -691.424906568639,
+            -170.2933735214753,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -694.424906568639,
+            -170.2933735214753,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -697.424906568639,
+            -170.2933735214753,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -700.424906568639,
+            -170.2933735214753,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -703.424906568639,
+            -170.2933735214753,
+            131.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -703.424906568639,
+            -170.2933735214753,
+            134.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -703.424906568639,
+            -170.2933735214753,
+            137.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -703.424906568639,
+            -170.2933735214753,
+            140.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -703.424906568639,
+            -170.2933735214753,
+            143.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -703.424906568639,
+            -170.2933735214753,
+            146.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -703.424906568639,
+            -170.2933735214753,
+            149.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -703.424906568639,
+            -170.2933735214753,
+            152.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -703.424906568639,
+            -170.2933735214753,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -706.0229827799924,
+            -171.7933735214753,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -708.6210589913458,
+            -173.2933735214753,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -711.2191352026991,
+            -174.7933735214753,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -713.8172114140525,
+            -176.2933735214753,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -716.4152876254059,
+            -177.7933735214753,
+            152.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -716.4152876254059,
+            -177.7933735214753,
+            149.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -716.4152876254059,
+            -177.7933735214753,
+            146.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -716.4152876254059,
+            -177.7933735214753,
+            143.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -716.4152876254059,
+            -177.7933735214753,
+            140.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -716.4152876254059,
+            -177.7933735214753,
+            137.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -716.4152876254059,
+            -177.7933735214753,
+            134.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -716.4152876254059,
+            -177.7933735214753,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -744.0,
+            -184.0,
+            147.579
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-01-19_00-57-04_718122/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_00-57-04_718122/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b3798998ada4df03c3ce3c399aad691169dfdeda
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_00-57-04_718122/pose.jsonl
@@ -0,0 +1,665 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -625.3363183953446,
+            -158.9502793606465,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -627.9343946066979,
+            -160.4502793606465,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -630.5324708180513,
+            -161.9502793606465,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -633.1305470294046,
+            -163.4502793606465,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -635.728623240758,
+            -164.9502793606465,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -638.3266994521114,
+            -166.4502793606465,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -640.9247756634647,
+            -167.9502793606465,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -643.5228518748181,
+            -169.4502793606465,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -646.1209280861715,
+            -170.9502793606465,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -648.7190042975249,
+            -172.4502793606465,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -651.3170805088782,
+            -173.9502793606465,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -651.3170805088782,
+            -173.9502793606465,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -654.3170805088782,
+            -173.9502793606465,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -657.3170805088782,
+            -173.9502793606465,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -660.3170805088782,
+            -173.9502793606465,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -663.3170805088782,
+            -173.9502793606465,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -666.3170805088782,
+            -173.9502793606465,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -669.3170805088782,
+            -173.9502793606465,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -672.3170805088782,
+            -173.9502793606465,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -675.3170805088782,
+            -173.9502793606465,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -678.3170805088782,
+            -173.9502793606465,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -681.3170805088782,
+            -173.9502793606465,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -684.3170805088782,
+            -173.9502793606465,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -687.3170805088782,
+            -173.9502793606465,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -690.3170805088782,
+            -173.9502793606465,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -693.3170805088782,
+            -173.9502793606465,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -696.3170805088782,
+            -173.9502793606465,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -699.3170805088782,
+            -173.9502793606465,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -702.3170805088782,
+            -173.9502793606465,
+            131.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -702.3170805088782,
+            -173.9502793606465,
+            134.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -702.3170805088782,
+            -173.9502793606465,
+            137.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -702.3170805088782,
+            -173.9502793606465,
+            140.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -702.3170805088782,
+            -173.9502793606465,
+            143.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -702.3170805088782,
+            -173.9502793606465,
+            146.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -702.3170805088782,
+            -173.9502793606465,
+            149.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -702.3170805088782,
+            -173.9502793606465,
+            152.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -702.3170805088782,
+            -173.9502793606465,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -704.9151567202316,
+            -175.4502793606465,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -707.513232931585,
+            -176.9502793606465,
+            152.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -707.513232931585,
+            -176.9502793606465,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -710.513232931585,
+            -176.9502793606465,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -713.513232931585,
+            -176.9502793606465,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -716.513232931585,
+            -176.9502793606465,
+            152.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -716.513232931585,
+            -176.9502793606465,
+            149.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -716.513232931585,
+            -176.9502793606465,
+            146.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -716.513232931585,
+            -176.9502793606465,
+            143.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -716.513232931585,
+            -176.9502793606465,
+            140.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -716.513232931585,
+            -176.9502793606465,
+            137.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -716.513232931585,
+            -176.9502793606465,
+            134.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -716.513232931585,
+            -176.9502793606465,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -744.0,
+            -184.0,
+            147.579
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-01-19_01-05-55_733238/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_01-05-55_733238/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ded90221910f35b9c89fc52cd64cf80776acd804
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_01-05-55_733238/pose.jsonl
@@ -0,0 +1,1497 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -108.53704503891382,
+            29.715126260680933,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -111.13512125026713,
+            28.215126260680933,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -113.73319746162045,
+            26.715126260680933,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -116.33127367297377,
+            25.215126260680933,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -118.92934988432708,
+            23.715126260680933,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -121.5274260956804,
+            22.215126260680933,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -124.12550230703371,
+            20.715126260680933,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -126.72357851838703,
+            19.215126260680933,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -129.32165472974035,
+            17.715126260680933,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -131.91973094109366,
+            16.215126260680933,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -134.51780715244698,
+            14.715126260680933,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -137.1158833638003,
+            13.215126260680933,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -139.7139595751536,
+            11.715126260680933,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -142.31203578650693,
+            10.215126260680933,
+            131.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -142.31203578650693,
+            10.215126260680933,
+            134.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -142.31203578650693,
+            10.215126260680933,
+            137.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -142.31203578650693,
+            10.215126260680933,
+            140.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -142.31203578650693,
+            10.215126260680933,
+            143.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -142.31203578650693,
+            10.215126260680933,
+            146.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -142.31203578650693,
+            10.215126260680933,
+            149.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -142.31203578650693,
+            10.215126260680933,
+            152.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -142.31203578650693,
+            10.215126260680933,
+            155.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -142.31203578650693,
+            10.215126260680933,
+            158.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -142.31203578650693,
+            10.215126260680933,
+            161.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -142.31203578650693,
+            10.215126260680933,
+            164.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -142.31203578650693,
+            10.215126260680933,
+            167.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -142.31203578650693,
+            10.215126260680933,
+            170.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -142.31203578650693,
+            10.215126260680933,
+            173.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -142.31203578650693,
+            10.215126260680933,
+            176.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -142.31203578650693,
+            10.215126260680933,
+            179.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -142.31203578650693,
+            10.215126260680933,
+            182.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -142.31203578650693,
+            10.215126260680933,
+            185.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -142.31203578650693,
+            10.215126260680933,
+            188.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -142.31203578650693,
+            10.215126260680933,
+            191.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -142.31203578650693,
+            10.215126260680933,
+            194.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -142.31203578650693,
+            10.215126260680933,
+            197.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -142.31203578650693,
+            10.215126260680933,
+            200.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -142.31203578650693,
+            10.215126260680933,
+            203.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -142.31203578650693,
+            10.215126260680933,
+            206.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -142.31203578650693,
+            10.215126260680933,
+            209.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -142.31203578650693,
+            10.215126260680933,
+            212.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -142.31203578650693,
+            10.215126260680933,
+            215.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -142.31203578650693,
+            10.215126260680933,
+            218.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -142.31203578650693,
+            10.215126260680933,
+            221.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -142.31203578650693,
+            10.215126260680933,
+            224.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -142.31203578650693,
+            10.215126260680933,
+            227.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -142.31203578650693,
+            10.215126260680933,
+            230.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -142.31203578650693,
+            10.215126260680933,
+            230.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -142.31203578650693,
+            10.215126260680933,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948968
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -142.31203578650693,
+            7.2151262606809325,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -142.31203578650693,
+            4.2151262606809325,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -142.31203578650693,
+            1.2151262606809325,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -142.31203578650693,
+            -1.7848737393190675,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -142.31203578650693,
+            -4.7848737393190675,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -142.31203578650693,
+            -7.7848737393190675,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -142.31203578650693,
+            -10.784873739319067,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -142.31203578650693,
+            -13.784873739319067,
+            230.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -142.31203578650693,
+            -13.784873739319067,
+            227.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -142.31203578650693,
+            -13.784873739319067,
+            227.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            -140.81203578650693,
+            -16.382949950672383,
+            227.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            -139.31203578650693,
+            -18.9810261620257,
+            227.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            -137.81203578650693,
+            -21.579102373379015,
+            227.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            -136.31203578650693,
+            -24.17717858473233,
+            227.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            -134.81203578650693,
+            -26.775254796085648,
+            227.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            -133.31203578650693,
+            -29.373331007438964,
+            227.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            -131.81203578650693,
+            -31.97140721879228,
+            227.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            -130.31203578650693,
+            -34.569483430145596,
+            227.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            -128.81203578650693,
+            -37.16755964149891,
+            227.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            -127.31203578650693,
+            -39.76563585285223,
+            227.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            -125.81203578650693,
+            -42.363712064205544,
+            227.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            -125.81203578650693,
+            -42.363712064205544,
+            224.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            -125.81203578650693,
+            -42.363712064205544,
+            221.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            -125.81203578650693,
+            -42.363712064205544,
+            218.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            -125.81203578650693,
+            -42.363712064205544,
+            215.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            -125.81203578650693,
+            -42.363712064205544,
+            212.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            -125.81203578650693,
+            -42.363712064205544,
+            209.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            -125.81203578650693,
+            -42.363712064205544,
+            206.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            -125.81203578650693,
+            -42.363712064205544,
+            203.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            -125.81203578650693,
+            -42.363712064205544,
+            200.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            -125.81203578650693,
+            -42.363712064205544,
+            197.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            -125.81203578650693,
+            -42.363712064205544,
+            194.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            -125.81203578650693,
+            -42.363712064205544,
+            191.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            -125.81203578650693,
+            -42.363712064205544,
+            188.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            -125.81203578650693,
+            -42.363712064205544,
+            185.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 84,
+        "pos": [
+            -125.81203578650693,
+            -42.363712064205544,
+            182.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 85,
+        "pos": [
+            -125.81203578650693,
+            -42.363712064205544,
+            179.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 86,
+        "pos": [
+            -125.81203578650693,
+            -42.363712064205544,
+            176.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 87,
+        "pos": [
+            -125.81203578650693,
+            -42.363712064205544,
+            173.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 88,
+        "pos": [
+            -125.81203578650693,
+            -42.363712064205544,
+            170.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 89,
+        "pos": [
+            -125.81203578650693,
+            -42.363712064205544,
+            167.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 90,
+        "pos": [
+            -125.81203578650693,
+            -42.363712064205544,
+            164.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 91,
+        "pos": [
+            -125.81203578650693,
+            -42.363712064205544,
+            161.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 92,
+        "pos": [
+            -125.81203578650693,
+            -42.363712064205544,
+            158.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 93,
+        "pos": [
+            -124.31203578650693,
+            -44.96178827555886,
+            158.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 94,
+        "pos": [
+            -122.81203578650693,
+            -47.559864486912176,
+            158.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 95,
+        "pos": [
+            -121.31203578650693,
+            -50.15794069826549,
+            158.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 96,
+        "pos": [
+            -119.81203578650693,
+            -52.75601690961881,
+            158.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 97,
+        "pos": [
+            -118.31203578650693,
+            -55.354093120972124,
+            158.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 98,
+        "pos": [
+            -116.81203578650693,
+            -57.95216933232544,
+            158.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 99,
+        "pos": [
+            -116.81203578650693,
+            -57.95216933232544,
+            155.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 100,
+        "pos": [
+            -116.81203578650693,
+            -57.95216933232544,
+            152.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 101,
+        "pos": [
+            -116.81203578650693,
+            -57.95216933232544,
+            149.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 102,
+        "pos": [
+            -116.81203578650693,
+            -57.95216933232544,
+            146.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 103,
+        "pos": [
+            -116.81203578650693,
+            -57.95216933232544,
+            143.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 104,
+        "pos": [
+            -116.81203578650693,
+            -57.95216933232544,
+            140.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 105,
+        "pos": [
+            -116.81203578650693,
+            -57.95216933232544,
+            140.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 106,
+        "pos": [
+            -114.21395957515361,
+            -59.45216933232544,
+            140.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 107,
+        "pos": [
+            -111.6158833638003,
+            -60.95216933232544,
+            140.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 108,
+        "pos": [
+            -109.01780715244698,
+            -62.45216933232544,
+            140.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 109,
+        "pos": [
+            -106.41973094109366,
+            -63.95216933232544,
+            140.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 110,
+        "pos": [
+            -106.41973094109366,
+            -63.95216933232544,
+            137.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 111,
+        "pos": [
+            -106.41973094109366,
+            -63.95216933232544,
+            134.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 112,
+        "pos": [
+            -106.41973094109366,
+            -63.95216933232544,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 113,
+        "pos": [
+            -104.91973094109366,
+            -66.55024554367876,
+            134.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -104.0,
+            -96.0,
+            248.592
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-01-19_01-18-59_936642/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_01-18-59_936642/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..58b9d77d5fe96b62ec68459ea11893e42d880f85
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_01-18-59_936642/pose.jsonl
@@ -0,0 +1,795 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -714.2227595774477,
+            -171.4324003680848,
+            131.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -714.2227595774477,
+            -171.4324003680848,
+            134.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -714.2227595774477,
+            -171.4324003680848,
+            137.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -714.2227595774477,
+            -171.4324003680848,
+            140.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -714.2227595774477,
+            -171.4324003680848,
+            143.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -714.2227595774477,
+            -171.4324003680848,
+            146.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -714.2227595774477,
+            -171.4324003680848,
+            149.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -714.2227595774477,
+            -171.4324003680848,
+            152.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -714.2227595774477,
+            -171.4324003680848,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -711.6246833660944,
+            -172.9324003680848,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -709.026607154741,
+            -174.4324003680848,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -706.4285309433876,
+            -175.9324003680848,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -703.8304547320342,
+            -177.4324003680848,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -701.2323785206809,
+            -178.9324003680848,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -698.6343023093275,
+            -180.4324003680848,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -696.0362260979741,
+            -181.9324003680848,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -693.4381498866207,
+            -183.4324003680848,
+            152.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -693.4381498866207,
+            -183.4324003680848,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 9.43689570931383e-15
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -690.4381498866207,
+            -183.4324003680848,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -687.4381498866207,
+            -183.4324003680848,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -684.4381498866207,
+            -183.4324003680848,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -681.4381498866207,
+            -183.4324003680848,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -678.4381498866207,
+            -183.4324003680848,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -675.4381498866207,
+            -183.4324003680848,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -672.4381498866207,
+            -183.4324003680848,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -669.4381498866207,
+            -183.4324003680848,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -666.4381498866207,
+            -183.4324003680848,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -663.4381498866207,
+            -183.4324003680848,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -660.4381498866207,
+            -183.4324003680848,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -657.4381498866207,
+            -183.4324003680848,
+            152.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -657.4381498866207,
+            -183.4324003680848,
+            152.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -657.4381498866207,
+            -183.4324003680848,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -655.9381498866207,
+            -186.03047657943813,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -654.4381498866207,
+            -188.62855279079145,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -652.9381498866207,
+            -191.22662900214476,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -651.4381498866207,
+            -193.82470521349808,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -649.9381498866207,
+            -196.4227814248514,
+            152.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -649.9381498866207,
+            -196.4227814248514,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -647.3400736752674,
+            -197.9227814248514,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -644.741997463914,
+            -199.4227814248514,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -642.1439212525606,
+            -200.9227814248514,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -639.5458450412073,
+            -202.4227814248514,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -636.9477688298539,
+            -203.9227814248514,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -634.3496926185005,
+            -205.4227814248514,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -631.7516164071471,
+            -206.9227814248514,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -629.1535401957938,
+            -208.4227814248514,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -626.5554639844404,
+            -209.9227814248514,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -623.957387773087,
+            -211.4227814248514,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -621.3593115617336,
+            -212.9227814248514,
+            152.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -621.3593115617336,
+            -212.9227814248514,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 9.43689570931383e-15
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -618.3593115617336,
+            -212.9227814248514,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -615.3593115617336,
+            -212.9227814248514,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -612.3593115617336,
+            -212.9227814248514,
+            152.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -612.3593115617336,
+            -212.9227814248514,
+            149.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -612.3593115617336,
+            -212.9227814248514,
+            146.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -612.3593115617336,
+            -212.9227814248514,
+            143.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -612.3593115617336,
+            -212.9227814248514,
+            140.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -612.3593115617336,
+            -212.9227814248514,
+            137.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -612.3593115617336,
+            -212.9227814248514,
+            134.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            -612.3593115617336,
+            -212.9227814248514,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -604.0,
+            -216.0,
+            139.826
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-01-19_01-19-57_111119/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_01-19-57_111119/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7661a28727839a7709a1cd8a1ba0d4cdaed253d3
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_01-19-57_111119/pose.jsonl
@@ -0,0 +1,574 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -717.5381915643349,
+            -63.872337997266854,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -719.0381915643349,
+            -61.27426178591354,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -720.5381915643349,
+            -58.67618557456022,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -722.0381915643349,
+            -56.078109363206906,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -723.5381915643349,
+            -53.48003315185359,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -725.0381915643349,
+            -50.881956940500274,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -726.5381915643349,
+            -48.28388072914696,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -728.0381915643349,
+            -45.68580451779364,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -729.5381915643349,
+            -43.087728306440326,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -731.0381915643349,
+            -40.48965209508701,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -732.5381915643349,
+            -37.891575883733694,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -734.0381915643349,
+            -35.29349967238038,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -735.5381915643349,
+            -32.69542346102706,
+            131.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -735.5381915643349,
+            -32.69542346102706,
+            134.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -735.5381915643349,
+            -32.69542346102706,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -738.1362677756881,
+            -31.19542346102706,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -740.7343439870415,
+            -29.69542346102706,
+            134.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -740.7343439870415,
+            -29.69542346102706,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -742.2343439870415,
+            -27.097347249673746,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -743.7343439870415,
+            -24.49927103832043,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -745.2343439870415,
+            -21.901194826967114,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -746.7343439870415,
+            -19.303118615613798,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -748.2343439870415,
+            -16.70504240426048,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -749.7343439870415,
+            -14.106966192907166,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -751.2343439870415,
+            -11.50888998155385,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -752.7343439870415,
+            -8.910813770200534,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -754.2343439870415,
+            -6.312737558847218,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -755.7343439870415,
+            -3.7146613474939016,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -757.2343439870415,
+            -1.1165851361405856,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -758.7343439870415,
+            1.4814910752127304,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -760.2343439870415,
+            4.079567286566046,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -761.7343439870415,
+            6.677643497919362,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -763.2343439870415,
+            9.275719709272678,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -764.7343439870415,
+            11.873795920625994,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -766.2343439870415,
+            14.47187213197931,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -767.7343439870415,
+            17.069948343332626,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -769.2343439870415,
+            19.668024554685942,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -770.7343439870415,
+            22.26610076603926,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -772.2343439870415,
+            24.864176977392574,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -773.7343439870415,
+            27.46225318874589,
+            134.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -773.7343439870415,
+            27.46225318874589,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -773.7343439870415,
+            27.46225318874589,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -773.7343439870415,
+            30.46225318874589,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -792.0,
+            64.0,
+            157.028
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-01-19_01-22-14_868340/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_01-22-14_868340/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cac91c0eda0b833aa8a99286bdabf8a7110c8f53
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_01-22-14_868340/pose.jsonl
@@ -0,0 +1,1510 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -101.36366648339813,
+            23.103371256485246,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -103.96174269475145,
+            21.603371256485246,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -106.55981890610477,
+            20.103371256485246,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -109.15789511745808,
+            18.603371256485246,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -111.7559713288114,
+            17.103371256485246,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -114.35404754016471,
+            15.603371256485246,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -116.95212375151803,
+            14.103371256485246,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -119.55019996287135,
+            12.603371256485246,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -122.14827617422466,
+            11.103371256485246,
+            131.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -122.14827617422466,
+            11.103371256485246,
+            134.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -122.14827617422466,
+            11.103371256485246,
+            137.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -122.14827617422466,
+            11.103371256485246,
+            140.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -122.14827617422466,
+            11.103371256485246,
+            143.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -122.14827617422466,
+            11.103371256485246,
+            146.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -122.14827617422466,
+            11.103371256485246,
+            149.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -122.14827617422466,
+            11.103371256485246,
+            152.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -122.14827617422466,
+            11.103371256485246,
+            155.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -122.14827617422466,
+            11.103371256485246,
+            155.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -125.14827617422466,
+            11.103371256485246,
+            155.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -128.14827617422466,
+            11.103371256485246,
+            155.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -131.14827617422466,
+            11.103371256485246,
+            155.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -134.14827617422466,
+            11.103371256485246,
+            155.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -137.14827617422466,
+            11.103371256485246,
+            155.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -140.14827617422466,
+            11.103371256485246,
+            155.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -140.14827617422466,
+            11.103371256485246,
+            158.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -140.14827617422466,
+            11.103371256485246,
+            161.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -140.14827617422466,
+            11.103371256485246,
+            164.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -140.14827617422466,
+            11.103371256485246,
+            167.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -140.14827617422466,
+            11.103371256485246,
+            170.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -140.14827617422466,
+            11.103371256485246,
+            173.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -140.14827617422466,
+            11.103371256485246,
+            176.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -140.14827617422466,
+            11.103371256485246,
+            179.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -140.14827617422466,
+            11.103371256485246,
+            182.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -140.14827617422466,
+            11.103371256485246,
+            185.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -140.14827617422466,
+            11.103371256485246,
+            188.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -140.14827617422466,
+            11.103371256485246,
+            191.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -140.14827617422466,
+            11.103371256485246,
+            194.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -140.14827617422466,
+            11.103371256485246,
+            197.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -140.14827617422466,
+            11.103371256485246,
+            200.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -140.14827617422466,
+            11.103371256485246,
+            203.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -140.14827617422466,
+            11.103371256485246,
+            206.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -140.14827617422466,
+            11.103371256485246,
+            209.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -140.14827617422466,
+            11.103371256485246,
+            212.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -140.14827617422466,
+            11.103371256485246,
+            215.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -140.14827617422466,
+            11.103371256485246,
+            218.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -140.14827617422466,
+            11.103371256485246,
+            221.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -140.14827617422466,
+            11.103371256485246,
+            224.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -140.14827617422466,
+            11.103371256485246,
+            227.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -140.14827617422466,
+            11.103371256485246,
+            230.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -140.14827617422466,
+            11.103371256485246,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -142.74635238557798,
+            9.603371256485246,
+            230.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -142.74635238557798,
+            9.603371256485246,
+            230.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -142.74635238557798,
+            9.603371256485246,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948968
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -142.74635238557798,
+            6.6033712564852465,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -142.74635238557798,
+            3.6033712564852465,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -142.74635238557798,
+            0.6033712564852465,
+            230.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -142.74635238557798,
+            0.6033712564852465,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -141.24635238557798,
+            -1.9947049548680695,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -139.74635238557798,
+            -4.5927811662213855,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            -138.24635238557798,
+            -7.190857377574702,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            -136.74635238557798,
+            -9.788933588928018,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            -135.24635238557798,
+            -12.387009800281334,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            -133.74635238557798,
+            -14.98508601163465,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            -132.24635238557798,
+            -17.583162222987966,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            -130.74635238557798,
+            -20.18123843434128,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            -129.24635238557798,
+            -22.779314645694598,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            -127.74635238557798,
+            -25.377390857047914,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            -126.24635238557798,
+            -27.97546706840123,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            -124.74635238557798,
+            -30.573543279754546,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            -123.24635238557798,
+            -33.17161949110786,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            -121.74635238557798,
+            -35.76969570246118,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            -120.24635238557798,
+            -38.367771913814494,
+            230.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            -120.24635238557798,
+            -38.367771913814494,
+            227.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            -120.24635238557798,
+            -38.367771913814494,
+            224.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            -120.24635238557798,
+            -38.367771913814494,
+            221.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            -120.24635238557798,
+            -38.367771913814494,
+            218.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            -120.24635238557798,
+            -38.367771913814494,
+            215.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            -120.24635238557798,
+            -38.367771913814494,
+            212.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            -120.24635238557798,
+            -38.367771913814494,
+            209.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            -120.24635238557798,
+            -38.367771913814494,
+            206.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            -120.24635238557798,
+            -38.367771913814494,
+            203.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            -120.24635238557798,
+            -38.367771913814494,
+            200.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            -120.24635238557798,
+            -38.367771913814494,
+            197.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            -120.24635238557798,
+            -38.367771913814494,
+            194.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 84,
+        "pos": [
+            -120.24635238557798,
+            -38.367771913814494,
+            191.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 85,
+        "pos": [
+            -120.24635238557798,
+            -38.367771913814494,
+            188.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 86,
+        "pos": [
+            -120.24635238557798,
+            -38.367771913814494,
+            185.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 87,
+        "pos": [
+            -120.24635238557798,
+            -38.367771913814494,
+            182.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 88,
+        "pos": [
+            -120.24635238557798,
+            -38.367771913814494,
+            179.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 89,
+        "pos": [
+            -120.24635238557798,
+            -38.367771913814494,
+            176.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 90,
+        "pos": [
+            -120.24635238557798,
+            -38.367771913814494,
+            173.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 91,
+        "pos": [
+            -120.24635238557798,
+            -38.367771913814494,
+            170.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 92,
+        "pos": [
+            -120.24635238557798,
+            -38.367771913814494,
+            167.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 93,
+        "pos": [
+            -120.24635238557798,
+            -38.367771913814494,
+            164.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 94,
+        "pos": [
+            -120.24635238557798,
+            -38.367771913814494,
+            161.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 95,
+        "pos": [
+            -118.74635238557798,
+            -40.96584812516781,
+            161.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 96,
+        "pos": [
+            -117.24635238557798,
+            -43.563924336521126,
+            161.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 97,
+        "pos": [
+            -115.74635238557798,
+            -46.16200054787444,
+            161.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 98,
+        "pos": [
+            -114.24635238557798,
+            -48.76007675922776,
+            161.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 99,
+        "pos": [
+            -112.74635238557798,
+            -51.358152970581074,
+            161.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 100,
+        "pos": [
+            -111.24635238557798,
+            -53.95622918193439,
+            161.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 101,
+        "pos": [
+            -109.74635238557798,
+            -56.554305393287706,
+            161.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 102,
+        "pos": [
+            -108.24635238557798,
+            -59.15238160464102,
+            161.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 103,
+        "pos": [
+            -108.24635238557798,
+            -59.15238160464102,
+            158.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 104,
+        "pos": [
+            -108.24635238557798,
+            -59.15238160464102,
+            155.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 105,
+        "pos": [
+            -108.24635238557798,
+            -59.15238160464102,
+            152.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 106,
+        "pos": [
+            -108.24635238557798,
+            -59.15238160464102,
+            149.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 107,
+        "pos": [
+            -108.24635238557798,
+            -59.15238160464102,
+            146.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 108,
+        "pos": [
+            -108.24635238557798,
+            -59.15238160464102,
+            143.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 109,
+        "pos": [
+            -108.24635238557798,
+            -59.15238160464102,
+            140.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 110,
+        "pos": [
+            -108.24635238557798,
+            -59.15238160464102,
+            137.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 111,
+        "pos": [
+            -106.74635238557798,
+            -61.75045781599434,
+            137.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 112,
+        "pos": [
+            -105.24635238557798,
+            -64.34853402734765,
+            137.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 113,
+        "pos": [
+            -105.24635238557798,
+            -64.34853402734765,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 114,
+        "pos": [
+            -103.74635238557798,
+            -66.94661023870097,
+            134.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -104.0,
+            -96.0,
+            248.592
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-01-19_01-31-18_805147/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_01-31-18_805147/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2abb951d58fbca30597a6dc81ad9b95826c410c9
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_01-31-18_805147/pose.jsonl
@@ -0,0 +1,1562 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -98.34521357741804,
+            10.57739026031716,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -101.34521357741804,
+            10.57739026031716,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -104.34521357741804,
+            10.57739026031716,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -107.34521357741804,
+            10.57739026031716,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -110.34521357741804,
+            10.57739026031716,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -113.34521357741804,
+            10.57739026031716,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -116.34521357741804,
+            10.57739026031716,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -119.34521357741804,
+            10.57739026031716,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -122.34521357741804,
+            10.57739026031716,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -125.34521357741804,
+            10.57739026031716,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -128.34521357741804,
+            10.57739026031716,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -131.34521357741804,
+            10.57739026031716,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -134.34521357741804,
+            10.57739026031716,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -137.34521357741804,
+            10.57739026031716,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -140.34521357741804,
+            10.57739026031716,
+            131.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -140.34521357741804,
+            10.57739026031716,
+            134.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -140.34521357741804,
+            10.57739026031716,
+            137.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -140.34521357741804,
+            10.57739026031716,
+            140.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -140.34521357741804,
+            10.57739026031716,
+            143.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -140.34521357741804,
+            10.57739026031716,
+            146.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -140.34521357741804,
+            10.57739026031716,
+            149.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -140.34521357741804,
+            10.57739026031716,
+            152.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -140.34521357741804,
+            10.57739026031716,
+            155.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -140.34521357741804,
+            10.57739026031716,
+            158.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -140.34521357741804,
+            10.57739026031716,
+            161.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -140.34521357741804,
+            10.57739026031716,
+            164.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -140.34521357741804,
+            10.57739026031716,
+            167.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -140.34521357741804,
+            10.57739026031716,
+            170.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -140.34521357741804,
+            10.57739026031716,
+            173.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -140.34521357741804,
+            10.57739026031716,
+            176.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -140.34521357741804,
+            10.57739026031716,
+            179.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -140.34521357741804,
+            10.57739026031716,
+            182.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -140.34521357741804,
+            10.57739026031716,
+            185.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -140.34521357741804,
+            10.57739026031716,
+            188.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -140.34521357741804,
+            10.57739026031716,
+            191.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -140.34521357741804,
+            10.57739026031716,
+            194.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -140.34521357741804,
+            10.57739026031716,
+            197.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -140.34521357741804,
+            10.57739026031716,
+            200.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -140.34521357741804,
+            10.57739026031716,
+            203.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -140.34521357741804,
+            10.57739026031716,
+            206.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -140.34521357741804,
+            10.57739026031716,
+            209.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -140.34521357741804,
+            10.57739026031716,
+            212.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -140.34521357741804,
+            10.57739026031716,
+            215.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -140.34521357741804,
+            10.57739026031716,
+            218.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -140.34521357741804,
+            10.57739026031716,
+            221.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -140.34521357741804,
+            10.57739026031716,
+            224.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -140.34521357741804,
+            10.57739026031716,
+            227.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -140.34521357741804,
+            10.57739026031716,
+            230.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -140.34521357741804,
+            10.57739026031716,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -142.94328978877135,
+            9.07739026031716,
+            230.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -142.94328978877135,
+            9.07739026031716,
+            230.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -142.94328978877135,
+            9.07739026031716,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948968
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -142.94328978877135,
+            6.077390260317159,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -142.94328978877135,
+            3.0773902603171592,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -142.94328978877135,
+            0.07739026031715923,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -142.94328978877135,
+            -2.9226097396828408,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -142.94328978877135,
+            -5.922609739682841,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -142.94328978877135,
+            -8.92260973968284,
+            230.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -142.94328978877135,
+            -8.92260973968284,
+            227.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            -142.94328978877135,
+            -8.92260973968284,
+            224.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            -142.94328978877135,
+            -8.92260973968284,
+            221.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            -142.94328978877135,
+            -8.92260973968284,
+            218.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            -142.94328978877135,
+            -8.92260973968284,
+            215.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            -142.94328978877135,
+            -8.92260973968284,
+            212.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            -142.94328978877135,
+            -8.92260973968284,
+            209.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            -142.94328978877135,
+            -8.92260973968284,
+            206.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            -142.94328978877135,
+            -8.92260973968284,
+            203.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            -142.94328978877135,
+            -8.92260973968284,
+            200.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            -142.94328978877135,
+            -8.92260973968284,
+            197.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            -142.94328978877135,
+            -8.92260973968284,
+            194.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            -142.94328978877135,
+            -8.92260973968284,
+            191.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            -142.94328978877135,
+            -8.92260973968284,
+            191.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            -142.94328978877135,
+            -8.92260973968284,
+            191.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982989
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            -140.34521357741804,
+            -10.42260973968284,
+            191.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            -137.74713736606472,
+            -11.92260973968284,
+            191.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            -135.1490611547114,
+            -13.42260973968284,
+            191.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            -132.5509849433581,
+            -14.92260973968284,
+            191.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            -129.95290873200477,
+            -16.42260973968284,
+            191.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            -129.95290873200477,
+            -16.42260973968284,
+            191.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            -128.45290873200477,
+            -19.020685951036157,
+            191.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            -126.95290873200477,
+            -21.618762162389473,
+            191.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            -125.45290873200477,
+            -24.21683837374279,
+            191.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            -123.95290873200477,
+            -26.814914585096105,
+            191.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            -122.45290873200477,
+            -29.41299079644942,
+            191.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 84,
+        "pos": [
+            -120.95290873200477,
+            -32.01106700780274,
+            191.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 85,
+        "pos": [
+            -119.45290873200477,
+            -34.60914321915605,
+            191.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 86,
+        "pos": [
+            -117.95290873200477,
+            -37.20721943050937,
+            191.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 87,
+        "pos": [
+            -116.45290873200477,
+            -39.805295641862685,
+            191.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 88,
+        "pos": [
+            -114.95290873200477,
+            -42.403371853216,
+            191.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 89,
+        "pos": [
+            -113.45290873200477,
+            -45.00144806456932,
+            191.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 90,
+        "pos": [
+            -111.95290873200477,
+            -47.59952427592263,
+            191.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 91,
+        "pos": [
+            -110.45290873200477,
+            -50.19760048727595,
+            191.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 92,
+        "pos": [
+            -108.95290873200477,
+            -52.795676698629265,
+            191.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 93,
+        "pos": [
+            -107.45290873200477,
+            -55.39375290998258,
+            191.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 94,
+        "pos": [
+            -105.95290873200477,
+            -57.9918291213359,
+            191.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 95,
+        "pos": [
+            -104.45290873200477,
+            -60.58990533268921,
+            191.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 96,
+        "pos": [
+            -102.95290873200477,
+            -63.18798154404253,
+            191.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 97,
+        "pos": [
+            -102.95290873200477,
+            -63.18798154404253,
+            188.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 98,
+        "pos": [
+            -102.95290873200477,
+            -63.18798154404253,
+            185.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 99,
+        "pos": [
+            -102.95290873200477,
+            -63.18798154404253,
+            182.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 100,
+        "pos": [
+            -102.95290873200477,
+            -63.18798154404253,
+            179.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 101,
+        "pos": [
+            -102.95290873200477,
+            -63.18798154404253,
+            176.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 102,
+        "pos": [
+            -102.95290873200477,
+            -63.18798154404253,
+            173.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 103,
+        "pos": [
+            -102.95290873200477,
+            -63.18798154404253,
+            170.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 104,
+        "pos": [
+            -102.95290873200477,
+            -63.18798154404253,
+            167.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 105,
+        "pos": [
+            -102.95290873200477,
+            -63.18798154404253,
+            164.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 106,
+        "pos": [
+            -102.95290873200477,
+            -63.18798154404253,
+            161.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 107,
+        "pos": [
+            -102.95290873200477,
+            -63.18798154404253,
+            158.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 108,
+        "pos": [
+            -102.95290873200477,
+            -63.18798154404253,
+            155.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 109,
+        "pos": [
+            -102.95290873200477,
+            -63.18798154404253,
+            152.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 110,
+        "pos": [
+            -102.95290873200477,
+            -63.18798154404253,
+            149.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 111,
+        "pos": [
+            -102.95290873200477,
+            -63.18798154404253,
+            146.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 112,
+        "pos": [
+            -102.95290873200477,
+            -63.18798154404253,
+            143.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 113,
+        "pos": [
+            -102.95290873200477,
+            -63.18798154404253,
+            140.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 114,
+        "pos": [
+            -102.95290873200477,
+            -63.18798154404253,
+            137.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 115,
+        "pos": [
+            -102.95290873200477,
+            -63.18798154404253,
+            134.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 116,
+        "pos": [
+            -102.95290873200477,
+            -63.18798154404253,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 117,
+        "pos": [
+            -102.95290873200477,
+            -63.18798154404253,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 118,
+        "pos": [
+            -102.95290873200477,
+            -66.18798154404253,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -104.0,
+            -96.0,
+            248.592
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-01-19_01-34-00_942296/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_01-34-00_942296/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2eac4fb922140bfb151236f307337d4a92ebe4ab
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_01-34-00_942296/pose.jsonl
@@ -0,0 +1,652 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -648.0801280996484,
+            -220.86309415801833,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -650.6782043110018,
+            -219.36309415801833,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -653.2762805223551,
+            -217.86309415801833,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -655.8743567337085,
+            -216.36309415801833,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -658.4724329450619,
+            -214.86309415801833,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -661.0705091564153,
+            -213.36309415801833,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -661.0705091564153,
+            -213.36309415801833,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -662.5705091564153,
+            -210.765017946665,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -664.0705091564153,
+            -208.1669417353117,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -665.5705091564153,
+            -205.56886552395838,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -665.5705091564153,
+            -205.56886552395838,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -665.5705091564153,
+            -202.56886552395838,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -665.5705091564153,
+            -202.56886552395838,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -667.0705091564153,
+            -199.97078931260506,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -668.5705091564153,
+            -197.37271310125175,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -670.0705091564153,
+            -194.77463688989843,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -671.5705091564153,
+            -192.17656067854512,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -673.0705091564153,
+            -189.5784844671918,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -673.0705091564153,
+            -189.5784844671918,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -675.6685853677686,
+            -188.0784844671918,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -678.266661579122,
+            -186.5784844671918,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -680.8647377904754,
+            -185.0784844671918,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -683.4628140018287,
+            -183.5784844671918,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -686.0608902131821,
+            -182.0784844671918,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -688.6589664245355,
+            -180.5784844671918,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -691.2570426358889,
+            -179.0784844671918,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -693.8551188472422,
+            -177.5784844671918,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -696.4531950585956,
+            -176.0784844671918,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -699.051271269949,
+            -174.5784844671918,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -701.6493474813024,
+            -173.0784844671918,
+            131.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -701.6493474813024,
+            -173.0784844671918,
+            134.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -701.6493474813024,
+            -173.0784844671918,
+            137.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -701.6493474813024,
+            -173.0784844671918,
+            140.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -701.6493474813024,
+            -173.0784844671918,
+            143.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -701.6493474813024,
+            -173.0784844671918,
+            146.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -701.6493474813024,
+            -173.0784844671918,
+            149.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -701.6493474813024,
+            -173.0784844671918,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -704.2474236926557,
+            -171.5784844671918,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -706.8454999040091,
+            -170.0784844671918,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -709.4435761153625,
+            -168.5784844671918,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -712.0416523267158,
+            -167.0784844671918,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -714.6397285380692,
+            -165.5784844671918,
+            152.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -714.6397285380692,
+            -165.5784844671918,
+            149.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -714.6397285380692,
+            -165.5784844671918,
+            146.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -714.6397285380692,
+            -165.5784844671918,
+            143.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -714.6397285380692,
+            -165.5784844671918,
+            140.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -714.6397285380692,
+            -165.5784844671918,
+            137.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -714.6397285380692,
+            -165.5784844671918,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -717.2378047494226,
+            -164.0784844671918,
+            134.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -748.0,
+            -140.0,
+            147.578
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-01-19_01-34-44_578063/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_01-34-44_578063/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f2d7c8a9adce39528ed70fb5092486d651f0d922
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_01-34-44_578063/pose.jsonl
@@ -0,0 +1,691 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -732.831200583706,
+            -67.34739526740165,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -732.831200583706,
+            -70.34739526740165,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -732.831200583706,
+            -73.34739526740165,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -732.831200583706,
+            -76.34739526740165,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -732.831200583706,
+            -79.34739526740165,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -732.831200583706,
+            -82.34739526740165,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -732.831200583706,
+            -85.34739526740165,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -732.831200583706,
+            -88.34739526740165,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -732.831200583706,
+            -91.34739526740165,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -732.831200583706,
+            -94.34739526740165,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -732.831200583706,
+            -97.34739526740165,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -732.831200583706,
+            -100.34739526740165,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -732.831200583706,
+            -103.34739526740165,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -732.831200583706,
+            -106.34739526740165,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -732.831200583706,
+            -109.34739526740165,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -732.831200583706,
+            -109.34739526740165,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -731.331200583706,
+            -111.94547147875497,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -729.831200583706,
+            -114.54354769010828,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -728.331200583706,
+            -117.1416239014616,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -726.831200583706,
+            -119.73970011281492,
+            131.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -726.831200583706,
+            -119.73970011281492,
+            134.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -726.831200583706,
+            -119.73970011281492,
+            137.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -726.831200583706,
+            -119.73970011281492,
+            140.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -726.831200583706,
+            -119.73970011281492,
+            143.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -726.831200583706,
+            -119.73970011281492,
+            146.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -726.831200583706,
+            -119.73970011281492,
+            149.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -726.831200583706,
+            -119.73970011281492,
+            152.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -726.831200583706,
+            -119.73970011281492,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -726.831200583706,
+            -122.73970011281492,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -726.831200583706,
+            -125.73970011281492,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -726.831200583706,
+            -128.73970011281492,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -726.831200583706,
+            -131.73970011281492,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -726.831200583706,
+            -134.73970011281492,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -726.831200583706,
+            -137.73970011281492,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -726.831200583706,
+            -140.73970011281492,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -726.831200583706,
+            -143.73970011281492,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -726.831200583706,
+            -146.73970011281492,
+            152.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -726.831200583706,
+            -146.73970011281492,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -725.331200583706,
+            -149.33777632416823,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -723.831200583706,
+            -151.93585253552155,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -722.331200583706,
+            -154.53392874687486,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -720.831200583706,
+            -157.13200495822818,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -719.331200583706,
+            -159.7300811695815,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -717.831200583706,
+            -162.3281573809348,
+            152.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -717.831200583706,
+            -162.3281573809348,
+            149.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -717.831200583706,
+            -162.3281573809348,
+            146.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -717.831200583706,
+            -162.3281573809348,
+            143.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -717.831200583706,
+            -162.3281573809348,
+            140.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -717.831200583706,
+            -162.3281573809348,
+            137.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -717.831200583706,
+            -162.3281573809348,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -716.331200583706,
+            -164.92623359228813,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -714.831200583706,
+            -167.52430980364144,
+            134.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -708.0,
+            -200.0,
+            147.68
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-01-19_01-38-40_805514/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_01-38-40_805514/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6e8a83e5d8b7ebd7d97088d054342fb8e14f00be
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_01-38-40_805514/pose.jsonl
@@ -0,0 +1,1666 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -78.14539949007111,
+            49.576571901814276,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -80.74347570142443,
+            48.076571901814276,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -83.34155191277775,
+            46.576571901814276,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -85.93962812413106,
+            45.076571901814276,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -88.53770433548438,
+            43.576571901814276,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -91.1357805468377,
+            42.076571901814276,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -93.73385675819101,
+            40.576571901814276,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -96.33193296954433,
+            39.076571901814276,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -98.93000918089764,
+            37.576571901814276,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -101.52808539225096,
+            36.076571901814276,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -104.12616160360427,
+            34.576571901814276,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -106.72423781495759,
+            33.076571901814276,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -109.3223140263109,
+            31.576571901814276,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -111.92039023766422,
+            30.076571901814276,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -114.51846644901754,
+            28.576571901814276,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -117.11654266037085,
+            27.076571901814276,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -119.71461887172417,
+            25.576571901814276,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -122.31269508307749,
+            24.076571901814276,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -124.9107712944308,
+            22.576571901814276,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -127.50884750578412,
+            21.076571901814276,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -130.10692371713742,
+            19.576571901814276,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991492
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -132.70499992849074,
+            18.076571901814276,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -135.30307613984405,
+            16.576571901814276,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -137.90115235119737,
+            15.076571901814276,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -140.49922856255068,
+            13.576571901814276,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -143.097304773904,
+            12.076571901814276,
+            131.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -143.097304773904,
+            12.076571901814276,
+            134.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -143.097304773904,
+            12.076571901814276,
+            137.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -143.097304773904,
+            12.076571901814276,
+            140.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -143.097304773904,
+            12.076571901814276,
+            143.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -143.097304773904,
+            12.076571901814276,
+            146.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -143.097304773904,
+            12.076571901814276,
+            149.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -143.097304773904,
+            12.076571901814276,
+            152.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -143.097304773904,
+            12.076571901814276,
+            155.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -143.097304773904,
+            12.076571901814276,
+            158.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -143.097304773904,
+            12.076571901814276,
+            161.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -143.097304773904,
+            12.076571901814276,
+            164.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -143.097304773904,
+            12.076571901814276,
+            167.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -143.097304773904,
+            12.076571901814276,
+            170.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -143.097304773904,
+            12.076571901814276,
+            173.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -143.097304773904,
+            12.076571901814276,
+            176.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -143.097304773904,
+            12.076571901814276,
+            179.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -143.097304773904,
+            12.076571901814276,
+            182.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -143.097304773904,
+            12.076571901814276,
+            185.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -143.097304773904,
+            12.076571901814276,
+            188.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -143.097304773904,
+            12.076571901814276,
+            191.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -143.097304773904,
+            12.076571901814276,
+            194.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -143.097304773904,
+            12.076571901814276,
+            197.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -143.097304773904,
+            12.076571901814276,
+            200.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -143.097304773904,
+            12.076571901814276,
+            203.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -143.097304773904,
+            12.076571901814276,
+            206.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -143.097304773904,
+            12.076571901814276,
+            209.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -143.097304773904,
+            12.076571901814276,
+            212.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -143.097304773904,
+            12.076571901814276,
+            215.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -143.097304773904,
+            12.076571901814276,
+            218.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -143.097304773904,
+            12.076571901814276,
+            221.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -143.097304773904,
+            12.076571901814276,
+            224.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -143.097304773904,
+            12.076571901814276,
+            227.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -143.097304773904,
+            12.076571901814276,
+            230.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            -143.097304773904,
+            12.076571901814276,
+            230.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            -143.097304773904,
+            12.076571901814276,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948968
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            -143.097304773904,
+            9.076571901814276,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            -143.097304773904,
+            6.076571901814276,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            -143.097304773904,
+            3.076571901814276,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            -143.097304773904,
+            0.07657190181427609,
+            230.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            -143.097304773904,
+            0.07657190181427609,
+            230.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            -143.097304773904,
+            0.07657190181427609,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982989
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            -140.49922856255068,
+            -1.4234280981857237,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            -137.90115235119737,
+            -2.9234280981857235,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            -135.30307613984405,
+            -4.423428098185723,
+            230.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982987
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            -135.30307613984405,
+            -4.423428098185723,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965974
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            -133.80307613984405,
+            -7.021504309539039,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            -132.30307613984405,
+            -9.619580520892356,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            -130.80307613984405,
+            -12.217656732245672,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            -129.30307613984405,
+            -14.815732943598988,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            -127.80307613984405,
+            -17.413809154952304,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            -126.30307613984405,
+            -20.01188536630562,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            -124.80307613984405,
+            -22.609961577658936,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            -123.30307613984405,
+            -25.208037789012252,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            -121.80307613984405,
+            -27.806114000365568,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            -120.30307613984405,
+            -30.404190211718884,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            -118.80307613984405,
+            -33.0022664230722,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            -117.30307613984405,
+            -35.600342634425516,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            -115.80307613984405,
+            -38.19841884577883,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 84,
+        "pos": [
+            -114.30307613984405,
+            -40.79649505713215,
+            230.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 85,
+        "pos": [
+            -114.30307613984405,
+            -40.79649505713215,
+            227.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 86,
+        "pos": [
+            -114.30307613984405,
+            -40.79649505713215,
+            224.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 87,
+        "pos": [
+            -114.30307613984405,
+            -40.79649505713215,
+            221.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 88,
+        "pos": [
+            -114.30307613984405,
+            -40.79649505713215,
+            218.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 89,
+        "pos": [
+            -114.30307613984405,
+            -40.79649505713215,
+            215.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 90,
+        "pos": [
+            -114.30307613984405,
+            -40.79649505713215,
+            212.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 91,
+        "pos": [
+            -114.30307613984405,
+            -40.79649505713215,
+            209.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 92,
+        "pos": [
+            -114.30307613984405,
+            -40.79649505713215,
+            206.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 93,
+        "pos": [
+            -114.30307613984405,
+            -40.79649505713215,
+            203.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 94,
+        "pos": [
+            -114.30307613984405,
+            -40.79649505713215,
+            200.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 95,
+        "pos": [
+            -114.30307613984405,
+            -40.79649505713215,
+            197.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 96,
+        "pos": [
+            -114.30307613984405,
+            -40.79649505713215,
+            194.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 97,
+        "pos": [
+            -114.30307613984405,
+            -40.79649505713215,
+            191.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 98,
+        "pos": [
+            -114.30307613984405,
+            -40.79649505713215,
+            188.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 99,
+        "pos": [
+            -114.30307613984405,
+            -40.79649505713215,
+            185.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 100,
+        "pos": [
+            -114.30307613984405,
+            -40.79649505713215,
+            182.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 101,
+        "pos": [
+            -114.30307613984405,
+            -40.79649505713215,
+            179.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 102,
+        "pos": [
+            -114.30307613984405,
+            -40.79649505713215,
+            176.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 103,
+        "pos": [
+            -114.30307613984405,
+            -40.79649505713215,
+            173.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 104,
+        "pos": [
+            -114.30307613984405,
+            -40.79649505713215,
+            170.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 105,
+        "pos": [
+            -114.30307613984405,
+            -40.79649505713215,
+            167.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 106,
+        "pos": [
+            -114.30307613984405,
+            -40.79649505713215,
+            164.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 107,
+        "pos": [
+            -114.30307613984405,
+            -40.79649505713215,
+            161.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 108,
+        "pos": [
+            -114.30307613984405,
+            -40.79649505713215,
+            158.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 109,
+        "pos": [
+            -112.80307613984405,
+            -43.394571268485464,
+            158.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 110,
+        "pos": [
+            -111.30307613984405,
+            -45.99264747983878,
+            158.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 111,
+        "pos": [
+            -109.80307613984405,
+            -48.590723691192096,
+            158.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 112,
+        "pos": [
+            -108.30307613984405,
+            -51.18879990254541,
+            158.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 113,
+        "pos": [
+            -106.80307613984405,
+            -53.78687611389873,
+            158.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 114,
+        "pos": [
+            -105.30307613984405,
+            -56.384952325252044,
+            158.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 115,
+        "pos": [
+            -103.80307613984405,
+            -58.98302853660536,
+            158.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 116,
+        "pos": [
+            -102.30307613984405,
+            -61.581104747958676,
+            158.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 117,
+        "pos": [
+            -102.30307613984405,
+            -61.581104747958676,
+            155.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 118,
+        "pos": [
+            -102.30307613984405,
+            -61.581104747958676,
+            152.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 119,
+        "pos": [
+            -102.30307613984405,
+            -61.581104747958676,
+            149.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 120,
+        "pos": [
+            -102.30307613984405,
+            -61.581104747958676,
+            146.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 121,
+        "pos": [
+            -102.30307613984405,
+            -61.581104747958676,
+            143.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 122,
+        "pos": [
+            -102.30307613984405,
+            -61.581104747958676,
+            140.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 123,
+        "pos": [
+            -102.30307613984405,
+            -61.581104747958676,
+            137.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 124,
+        "pos": [
+            -102.30307613984405,
+            -61.581104747958676,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 125,
+        "pos": [
+            -100.80307613984405,
+            -64.17918095931199,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 126,
+        "pos": [
+            -99.30307613984405,
+            -66.77725717066531,
+            134.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -104.0,
+            -96.0,
+            248.592
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-01-19_01-42-27_168546/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_01-42-27_168546/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5e65dfd9a76781e1d28ea9b3735f8626a953a298
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_01-42-27_168546/pose.jsonl
@@ -0,0 +1,691 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -663.4055328878668,
+            -246.8871996911497,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -664.9055328878668,
+            -244.2891234797964,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -666.4055328878668,
+            -241.69104726844307,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -667.9055328878668,
+            -239.09297105708976,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -669.4055328878668,
+            -236.49489484573644,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -670.9055328878668,
+            -233.89681863438312,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -672.4055328878668,
+            -231.2987424230298,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -673.9055328878668,
+            -228.7006662116765,
+            131.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -673.9055328878668,
+            -228.7006662116765,
+            134.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -673.9055328878668,
+            -228.7006662116765,
+            137.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -673.9055328878668,
+            -228.7006662116765,
+            140.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -673.9055328878668,
+            -228.7006662116765,
+            143.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -673.9055328878668,
+            -228.7006662116765,
+            146.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -673.9055328878668,
+            -228.7006662116765,
+            149.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -673.9055328878668,
+            -228.7006662116765,
+            152.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -673.9055328878668,
+            -228.7006662116765,
+            155.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -673.9055328878668,
+            -228.7006662116765,
+            158.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -673.9055328878668,
+            -228.7006662116765,
+            161.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -675.4055328878668,
+            -226.10259000032318,
+            161.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -676.9055328878668,
+            -223.50451378896986,
+            161.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -678.4055328878668,
+            -220.90643757761654,
+            161.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -679.9055328878668,
+            -218.30836136626323,
+            161.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -681.4055328878668,
+            -215.7102851549099,
+            161.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -682.9055328878668,
+            -213.1122089435566,
+            161.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -684.4055328878668,
+            -210.51413273220328,
+            161.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -685.9055328878668,
+            -207.91605652084996,
+            161.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -687.4055328878668,
+            -205.31798030949665,
+            161.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -688.9055328878668,
+            -202.71990409814333,
+            161.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -690.4055328878668,
+            -200.12182788679002,
+            161.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -691.9055328878668,
+            -197.5237516754367,
+            161.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -691.9055328878668,
+            -197.5237516754367,
+            161.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -694.5036090992201,
+            -196.0237516754367,
+            161.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -697.1016853105734,
+            -194.5237516754367,
+            161.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -699.6997615219268,
+            -193.0237516754367,
+            161.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -702.2978377332802,
+            -191.5237516754367,
+            161.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -704.8959139446335,
+            -190.0237516754367,
+            161.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -707.4939901559869,
+            -188.5237516754367,
+            161.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -710.0920663673403,
+            -187.0237516754367,
+            161.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -712.6901425786937,
+            -185.5237516754367,
+            161.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -712.6901425786937,
+            -185.5237516754367,
+            158.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -712.6901425786937,
+            -185.5237516754367,
+            155.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -712.6901425786937,
+            -185.5237516754367,
+            152.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -712.6901425786937,
+            -185.5237516754367,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -714.1901425786937,
+            -182.92567546408338,
+            152.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -714.1901425786937,
+            -182.92567546408338,
+            149.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -714.1901425786937,
+            -182.92567546408338,
+            146.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -714.1901425786937,
+            -182.92567546408338,
+            143.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -714.1901425786937,
+            -182.92567546408338,
+            140.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -714.1901425786937,
+            -182.92567546408338,
+            137.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -714.1901425786937,
+            -182.92567546408338,
+            134.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -714.1901425786937,
+            -182.92567546408338,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -715.6901425786937,
+            -180.32759925273007,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -748.0,
+            -140.0,
+            147.578
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-01-19_01-45-41_475399/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_01-45-41_475399/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..65e56119bad0dd5db7a521151439c98e339120fb
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_01-45-41_475399/pose.jsonl
@@ -0,0 +1,652 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -649.934962243457,
+            -126.13942087933182,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -651.434962243457,
+            -128.73749709068514,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -651.434962243457,
+            -128.73749709068514,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -651.434962243457,
+            -128.73749709068514,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -654.434962243457,
+            -128.73749709068514,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -657.434962243457,
+            -128.73749709068514,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -660.434962243457,
+            -128.73749709068514,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -663.434962243457,
+            -128.73749709068514,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -666.434962243457,
+            -128.73749709068514,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -669.434962243457,
+            -128.73749709068514,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -672.434962243457,
+            -128.73749709068514,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -675.434962243457,
+            -128.73749709068514,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -678.434962243457,
+            -128.73749709068514,
+            131.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -678.434962243457,
+            -128.73749709068514,
+            134.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -678.434962243457,
+            -128.73749709068514,
+            137.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -678.434962243457,
+            -128.73749709068514,
+            140.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -678.434962243457,
+            -128.73749709068514,
+            143.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -678.434962243457,
+            -128.73749709068514,
+            146.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -678.434962243457,
+            -128.73749709068514,
+            149.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -678.434962243457,
+            -128.73749709068514,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -681.434962243457,
+            -128.73749709068514,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -684.434962243457,
+            -128.73749709068514,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -687.434962243457,
+            -128.73749709068514,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -690.434962243457,
+            -128.73749709068514,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -693.434962243457,
+            -128.73749709068514,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -696.434962243457,
+            -128.73749709068514,
+            152.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -696.434962243457,
+            -128.73749709068514,
+            152.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -696.434962243457,
+            -128.73749709068514,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 4.1887902047863905
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -697.934962243457,
+            -131.33557330203845,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -699.434962243457,
+            -133.93364951339177,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -700.934962243457,
+            -136.5317257247451,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -702.434962243457,
+            -139.1298019360984,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -703.934962243457,
+            -141.72787814745172,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -705.434962243457,
+            -144.32595435880503,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -706.934962243457,
+            -146.92403057015835,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -708.434962243457,
+            -149.52210678151167,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -709.934962243457,
+            -152.12018299286498,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -711.434962243457,
+            -154.7182592042183,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -712.934962243457,
+            -157.31633541557161,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -714.434962243457,
+            -159.91441162692493,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -715.934962243457,
+            -162.51248783827825,
+            152.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -715.934962243457,
+            -162.51248783827825,
+            149.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -715.934962243457,
+            -162.51248783827825,
+            146.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -715.934962243457,
+            -162.51248783827825,
+            143.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -715.934962243457,
+            -162.51248783827825,
+            140.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -715.934962243457,
+            -162.51248783827825,
+            137.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -715.934962243457,
+            -162.51248783827825,
+            134.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -715.934962243457,
+            -162.51248783827825,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -717.434962243457,
+            -165.11056404963156,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -744.0,
+            -184.0,
+            147.579
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-01-19_01-48-31_406732/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_01-48-31_406732/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7815eab669566f24926646732aa1a88f0136c37c
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_01-48-31_406732/pose.jsonl
@@ -0,0 +1,1484 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -178.91292740445223,
+            27.02339651324752,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -176.31485119309892,
+            25.52339651324752,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -173.7167749817456,
+            24.02339651324752,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -171.11869877039229,
+            22.52339651324752,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -168.52062255903897,
+            21.02339651324752,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -165.92254634768565,
+            19.52339651324752,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -163.32447013633234,
+            18.02339651324752,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -160.72639392497902,
+            16.52339651324752,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -158.1283177136257,
+            15.02339651324752,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -155.5302415022724,
+            13.52339651324752,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -152.93216529091907,
+            12.02339651324752,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -150.33408907956576,
+            10.52339651324752,
+            131.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -150.33408907956576,
+            10.52339651324752,
+            134.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -150.33408907956576,
+            10.52339651324752,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -147.33408907956576,
+            10.52339651324752,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -144.33408907956576,
+            10.52339651324752,
+            134.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -144.33408907956576,
+            10.52339651324752,
+            137.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -144.33408907956576,
+            10.52339651324752,
+            140.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -144.33408907956576,
+            10.52339651324752,
+            143.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -144.33408907956576,
+            10.52339651324752,
+            146.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -144.33408907956576,
+            10.52339651324752,
+            149.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -144.33408907956576,
+            10.52339651324752,
+            152.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -144.33408907956576,
+            10.52339651324752,
+            155.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -144.33408907956576,
+            10.52339651324752,
+            158.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -144.33408907956576,
+            10.52339651324752,
+            161.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -144.33408907956576,
+            10.52339651324752,
+            164.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -144.33408907956576,
+            10.52339651324752,
+            167.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -144.33408907956576,
+            10.52339651324752,
+            170.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -144.33408907956576,
+            10.52339651324752,
+            173.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -144.33408907956576,
+            10.52339651324752,
+            176.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -144.33408907956576,
+            10.52339651324752,
+            179.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -144.33408907956576,
+            10.52339651324752,
+            182.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -144.33408907956576,
+            10.52339651324752,
+            185.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -144.33408907956576,
+            10.52339651324752,
+            188.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -144.33408907956576,
+            10.52339651324752,
+            191.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -144.33408907956576,
+            10.52339651324752,
+            194.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -144.33408907956576,
+            10.52339651324752,
+            197.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -144.33408907956576,
+            10.52339651324752,
+            200.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -144.33408907956576,
+            10.52339651324752,
+            203.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -144.33408907956576,
+            10.52339651324752,
+            206.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -144.33408907956576,
+            10.52339651324752,
+            209.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -144.33408907956576,
+            10.52339651324752,
+            212.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -144.33408907956576,
+            10.52339651324752,
+            215.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -144.33408907956576,
+            10.52339651324752,
+            218.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -144.33408907956576,
+            10.52339651324752,
+            221.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -144.33408907956576,
+            10.52339651324752,
+            224.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -144.33408907956576,
+            10.52339651324752,
+            227.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -144.33408907956576,
+            10.52339651324752,
+            230.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -144.33408907956576,
+            10.52339651324752,
+            230.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -144.33408907956576,
+            10.52339651324752,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -142.83408907956576,
+            7.925320301894203,
+            230.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -142.83408907956576,
+            7.925320301894203,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -142.83408907956576,
+            4.925320301894203,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -142.83408907956576,
+            1.9253203018942031,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -142.83408907956576,
+            -1.0746796981057969,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -142.83408907956576,
+            -4.074679698105797,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -142.83408907956576,
+            -7.074679698105797,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -142.83408907956576,
+            -10.074679698105797,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -142.83408907956576,
+            -13.074679698105797,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            -142.83408907956576,
+            -16.074679698105797,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            -142.83408907956576,
+            -19.074679698105797,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            -142.83408907956576,
+            -22.074679698105797,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            -142.83408907956576,
+            -25.074679698105797,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            -142.83408907956576,
+            -28.074679698105797,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            -142.83408907956576,
+            -31.074679698105797,
+            230.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            -142.83408907956576,
+            -31.074679698105797,
+            227.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            -142.83408907956576,
+            -31.074679698105797,
+            224.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            -142.83408907956576,
+            -31.074679698105797,
+            221.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            -142.83408907956576,
+            -31.074679698105797,
+            218.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            -142.83408907956576,
+            -31.074679698105797,
+            215.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            -142.83408907956576,
+            -31.074679698105797,
+            212.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            -142.83408907956576,
+            -31.074679698105797,
+            209.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            -142.83408907956576,
+            -31.074679698105797,
+            206.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            -142.83408907956576,
+            -31.074679698105797,
+            203.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            -142.83408907956576,
+            -31.074679698105797,
+            200.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            -142.83408907956576,
+            -31.074679698105797,
+            197.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            -142.83408907956576,
+            -31.074679698105797,
+            194.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            -142.83408907956576,
+            -31.074679698105797,
+            191.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            -142.83408907956576,
+            -31.074679698105797,
+            188.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            -142.83408907956576,
+            -31.074679698105797,
+            185.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            -142.83408907956576,
+            -31.074679698105797,
+            182.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            -142.83408907956576,
+            -31.074679698105797,
+            179.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            -142.83408907956576,
+            -31.074679698105797,
+            176.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            -142.83408907956576,
+            -31.074679698105797,
+            173.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 84,
+        "pos": [
+            -142.83408907956576,
+            -31.074679698105797,
+            170.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 85,
+        "pos": [
+            -142.83408907956576,
+            -31.074679698105797,
+            170.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 86,
+        "pos": [
+            -141.33408907956576,
+            -33.67275590945911,
+            170.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 87,
+        "pos": [
+            -139.83408907956576,
+            -36.27083212081243,
+            170.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 88,
+        "pos": [
+            -138.33408907956576,
+            -38.868908332165745,
+            170.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 89,
+        "pos": [
+            -136.83408907956576,
+            -41.46698454351906,
+            170.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 90,
+        "pos": [
+            -135.33408907956576,
+            -44.06506075487238,
+            170.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 91,
+        "pos": [
+            -133.83408907956576,
+            -46.66313696622569,
+            170.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 92,
+        "pos": [
+            -132.33408907956576,
+            -49.26121317757901,
+            170.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 93,
+        "pos": [
+            -130.83408907956576,
+            -51.859289388932325,
+            170.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 94,
+        "pos": [
+            -129.33408907956576,
+            -54.45736560028564,
+            170.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 95,
+        "pos": [
+            -127.83408907956576,
+            -57.05544181163896,
+            170.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 96,
+        "pos": [
+            -126.33408907956576,
+            -59.65351802299227,
+            170.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 97,
+        "pos": [
+            -124.83408907956576,
+            -62.25159423434559,
+            170.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 98,
+        "pos": [
+            -123.33408907956576,
+            -64.8496704456989,
+            170.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 99,
+        "pos": [
+            -121.83408907956576,
+            -67.44774665705222,
+            170.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 100,
+        "pos": [
+            -121.83408907956576,
+            -67.44774665705222,
+            167.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 101,
+        "pos": [
+            -121.83408907956576,
+            -67.44774665705222,
+            164.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 102,
+        "pos": [
+            -121.83408907956576,
+            -67.44774665705222,
+            161.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 103,
+        "pos": [
+            -121.83408907956576,
+            -67.44774665705222,
+            158.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 104,
+        "pos": [
+            -121.83408907956576,
+            -67.44774665705222,
+            155.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 105,
+        "pos": [
+            -121.83408907956576,
+            -67.44774665705222,
+            152.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 106,
+        "pos": [
+            -121.83408907956576,
+            -67.44774665705222,
+            149.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 107,
+        "pos": [
+            -121.83408907956576,
+            -67.44774665705222,
+            146.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 108,
+        "pos": [
+            -121.83408907956576,
+            -67.44774665705222,
+            143.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 109,
+        "pos": [
+            -121.83408907956576,
+            -67.44774665705222,
+            140.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 110,
+        "pos": [
+            -121.83408907956576,
+            -67.44774665705222,
+            137.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 111,
+        "pos": [
+            -121.83408907956576,
+            -67.44774665705222,
+            134.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 112,
+        "pos": [
+            -121.83408907956576,
+            -67.44774665705222,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -104.0,
+            -96.0,
+            248.592
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-01-19_01-55-36_782249/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_01-55-36_782249/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..432528fc72cf32d9d513dbf9de383dffbb5c894e
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_01-55-36_782249/pose.jsonl
@@ -0,0 +1,470 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1015.3364475475391,
+            -258.5660926644153,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1013.8364475475391,
+            -255.96801645306198,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1012.3364475475391,
+            -253.36994024170866,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1010.8364475475391,
+            -250.77186403035535,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1009.3364475475391,
+            -248.17378781900203,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1007.8364475475391,
+            -245.5757116076487,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1006.3364475475391,
+            -242.9776353962954,
+            131.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1006.3364475475391,
+            -242.9776353962954,
+            134.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1006.3364475475391,
+            -242.9776353962954,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1006.3364475475391,
+            -239.9776353962954,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1006.3364475475391,
+            -236.9776353962954,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1006.3364475475391,
+            -233.9776353962954,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1006.3364475475391,
+            -230.9776353962954,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1006.3364475475391,
+            -227.9776353962954,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1006.3364475475391,
+            -224.9776353962954,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1006.3364475475391,
+            -221.9776353962954,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1006.3364475475391,
+            -218.9776353962954,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1006.3364475475391,
+            -215.9776353962954,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1006.3364475475391,
+            -212.9776353962954,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1006.3364475475391,
+            -209.9776353962954,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1006.3364475475391,
+            -206.9776353962954,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1006.3364475475391,
+            -203.9776353962954,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1006.3364475475391,
+            -200.9776353962954,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1006.3364475475391,
+            -197.9776353962954,
+            134.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1006.3364475475391,
+            -197.9776353962954,
+            134.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1006.3364475475391,
+            -197.9776353962954,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982989
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1003.7383713361858,
+            -196.4776353962954,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1001.1402951248324,
+            -194.9776353962954,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -998.542218913479,
+            -193.4776353962954,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -995.9441427021256,
+            -191.9776353962954,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -993.3460664907723,
+            -190.4776353962954,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -990.7479902794189,
+            -188.9776353962954,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -988.1499140680655,
+            -187.4776353962954,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -985.5518378567122,
+            -185.9776353962954,
+            134.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -985.5518378567122,
+            -185.9776353962954,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -960.0,
+            -132.0,
+            141.65
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-01-19_01-58-48_551587/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_01-58-48_551587/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a9a23acd05e959032fc940a1ec70aca3698a3ee6
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_01-58-48_551587/pose.jsonl
@@ -0,0 +1,1653 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -85.70045112204427,
+            30.947509692616123,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -88.29852733339759,
+            29.447509692616123,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -90.8966035447509,
+            27.947509692616123,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -93.49467975610422,
+            26.447509692616123,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -96.09275596745753,
+            24.947509692616123,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -98.69083217881085,
+            23.447509692616123,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -101.28890839016417,
+            21.947509692616123,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -103.88698460151748,
+            20.447509692616123,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -106.4850608128708,
+            18.947509692616123,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -109.08313702422411,
+            17.447509692616123,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -111.68121323557743,
+            15.947509692616123,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -114.27928944693075,
+            14.447509692616123,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -116.87736565828406,
+            12.947509692616123,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -119.47544186963738,
+            11.447509692616123,
+            131.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -119.47544186963738,
+            11.447509692616123,
+            134.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -119.47544186963738,
+            11.447509692616123,
+            137.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -119.47544186963738,
+            11.447509692616123,
+            140.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -119.47544186963738,
+            11.447509692616123,
+            143.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -119.47544186963738,
+            11.447509692616123,
+            146.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -119.47544186963738,
+            11.447509692616123,
+            149.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -119.47544186963738,
+            11.447509692616123,
+            152.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -119.47544186963738,
+            11.447509692616123,
+            155.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -119.47544186963738,
+            11.447509692616123,
+            155.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -122.47544186963738,
+            11.447509692616123,
+            155.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -125.47544186963738,
+            11.447509692616123,
+            155.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -128.4754418696374,
+            11.447509692616123,
+            155.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -131.4754418696374,
+            11.447509692616123,
+            155.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -134.4754418696374,
+            11.447509692616123,
+            155.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -137.4754418696374,
+            11.447509692616123,
+            155.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -140.4754418696374,
+            11.447509692616123,
+            155.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -143.4754418696374,
+            11.447509692616123,
+            155.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -143.4754418696374,
+            11.447509692616123,
+            158.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -143.4754418696374,
+            11.447509692616123,
+            161.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -143.4754418696374,
+            11.447509692616123,
+            164.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -143.4754418696374,
+            11.447509692616123,
+            167.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -143.4754418696374,
+            11.447509692616123,
+            170.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -143.4754418696374,
+            11.447509692616123,
+            173.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -143.4754418696374,
+            11.447509692616123,
+            176.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -143.4754418696374,
+            11.447509692616123,
+            179.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -143.4754418696374,
+            11.447509692616123,
+            182.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -143.4754418696374,
+            11.447509692616123,
+            185.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -143.4754418696374,
+            11.447509692616123,
+            188.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -143.4754418696374,
+            11.447509692616123,
+            191.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -143.4754418696374,
+            11.447509692616123,
+            194.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -143.4754418696374,
+            11.447509692616123,
+            197.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -143.4754418696374,
+            11.447509692616123,
+            200.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -143.4754418696374,
+            11.447509692616123,
+            203.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -143.4754418696374,
+            11.447509692616123,
+            206.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -143.4754418696374,
+            11.447509692616123,
+            209.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -143.4754418696374,
+            11.447509692616123,
+            212.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -143.4754418696374,
+            11.447509692616123,
+            215.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -143.4754418696374,
+            11.447509692616123,
+            218.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -143.4754418696374,
+            11.447509692616123,
+            221.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -143.4754418696374,
+            11.447509692616123,
+            224.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -143.4754418696374,
+            11.447509692616123,
+            227.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -143.4754418696374,
+            11.447509692616123,
+            230.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -143.4754418696374,
+            11.447509692616123,
+            230.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -143.4754418696374,
+            11.447509692616123,
+            230.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 4.1887902047863905
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -143.4754418696374,
+            11.447509692616123,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 4.71238898038469
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            -143.4754418696374,
+            8.447509692616123,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            -143.4754418696374,
+            5.447509692616123,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            -143.4754418696374,
+            2.447509692616123,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            -143.4754418696374,
+            -0.5524903073838772,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            -143.4754418696374,
+            -3.552490307383877,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            -143.4754418696374,
+            -6.552490307383877,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            -143.4754418696374,
+            -9.552490307383877,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            -143.4754418696374,
+            -12.552490307383877,
+            230.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            -143.4754418696374,
+            -12.552490307383877,
+            227.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            -143.4754418696374,
+            -12.552490307383877,
+            224.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            -143.4754418696374,
+            -12.552490307383877,
+            221.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            -143.4754418696374,
+            -12.552490307383877,
+            218.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            -143.4754418696374,
+            -12.552490307383877,
+            218.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            -141.9754418696374,
+            -15.150566518737193,
+            218.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            -140.4754418696374,
+            -17.74864273009051,
+            218.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            -138.9754418696374,
+            -20.346718941443825,
+            218.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            -137.4754418696374,
+            -22.94479515279714,
+            218.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            -135.9754418696374,
+            -25.542871364150457,
+            218.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            -134.4754418696374,
+            -28.140947575503773,
+            218.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            -132.9754418696374,
+            -30.73902378685709,
+            218.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            -131.4754418696374,
+            -33.337099998210405,
+            218.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            -129.9754418696374,
+            -35.93517620956372,
+            218.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            -128.4754418696374,
+            -38.53325242091704,
+            218.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            -126.9754418696374,
+            -41.13132863227035,
+            218.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            -125.4754418696374,
+            -43.72940484362367,
+            218.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 84,
+        "pos": [
+            -123.9754418696374,
+            -46.327481054976985,
+            218.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 85,
+        "pos": [
+            -122.4754418696374,
+            -48.9255572663303,
+            218.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 86,
+        "pos": [
+            -120.9754418696374,
+            -51.52363347768362,
+            218.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 87,
+        "pos": [
+            -120.9754418696374,
+            -51.52363347768362,
+            215.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 88,
+        "pos": [
+            -120.9754418696374,
+            -51.52363347768362,
+            212.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 89,
+        "pos": [
+            -120.9754418696374,
+            -51.52363347768362,
+            209.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 90,
+        "pos": [
+            -120.9754418696374,
+            -51.52363347768362,
+            206.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 91,
+        "pos": [
+            -120.9754418696374,
+            -51.52363347768362,
+            203.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 92,
+        "pos": [
+            -120.9754418696374,
+            -51.52363347768362,
+            200.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 93,
+        "pos": [
+            -120.9754418696374,
+            -51.52363347768362,
+            197.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 94,
+        "pos": [
+            -120.9754418696374,
+            -51.52363347768362,
+            194.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 95,
+        "pos": [
+            -120.9754418696374,
+            -51.52363347768362,
+            191.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 96,
+        "pos": [
+            -120.9754418696374,
+            -51.52363347768362,
+            188.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 97,
+        "pos": [
+            -120.9754418696374,
+            -51.52363347768362,
+            185.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 98,
+        "pos": [
+            -120.9754418696374,
+            -51.52363347768362,
+            182.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 99,
+        "pos": [
+            -120.9754418696374,
+            -51.52363347768362,
+            179.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 100,
+        "pos": [
+            -120.9754418696374,
+            -51.52363347768362,
+            176.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 101,
+        "pos": [
+            -120.9754418696374,
+            -51.52363347768362,
+            173.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 102,
+        "pos": [
+            -120.9754418696374,
+            -51.52363347768362,
+            170.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 103,
+        "pos": [
+            -120.9754418696374,
+            -51.52363347768362,
+            167.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 104,
+        "pos": [
+            -120.9754418696374,
+            -51.52363347768362,
+            164.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 105,
+        "pos": [
+            -120.9754418696374,
+            -51.52363347768362,
+            161.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 106,
+        "pos": [
+            -120.9754418696374,
+            -51.52363347768362,
+            158.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 107,
+        "pos": [
+            -120.9754418696374,
+            -51.52363347768362,
+            155.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 108,
+        "pos": [
+            -120.9754418696374,
+            -51.52363347768362,
+            152.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 109,
+        "pos": [
+            -120.9754418696374,
+            -51.52363347768362,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 110,
+        "pos": [
+            -118.37736565828408,
+            -53.02363347768362,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 111,
+        "pos": [
+            -115.77928944693076,
+            -54.52363347768362,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 112,
+        "pos": [
+            -113.18121323557745,
+            -56.02363347768362,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 113,
+        "pos": [
+            -110.58313702422413,
+            -57.52363347768362,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 114,
+        "pos": [
+            -107.98506081287081,
+            -59.02363347768362,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 115,
+        "pos": [
+            -105.3869846015175,
+            -60.52363347768362,
+            152.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 116,
+        "pos": [
+            -105.3869846015175,
+            -60.52363347768362,
+            149.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 117,
+        "pos": [
+            -105.3869846015175,
+            -60.52363347768362,
+            146.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 118,
+        "pos": [
+            -105.3869846015175,
+            -60.52363347768362,
+            143.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 119,
+        "pos": [
+            -105.3869846015175,
+            -60.52363347768362,
+            140.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 120,
+        "pos": [
+            -105.3869846015175,
+            -60.52363347768362,
+            137.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 121,
+        "pos": [
+            -105.3869846015175,
+            -60.52363347768362,
+            134.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 122,
+        "pos": [
+            -105.3869846015175,
+            -60.52363347768362,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 123,
+        "pos": [
+            -103.8869846015175,
+            -63.12170968903693,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 124,
+        "pos": [
+            -102.3869846015175,
+            -65.71978590039025,
+            134.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 125,
+        "pos": [
+            -102.3869846015175,
+            -65.71978590039025,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -104.0,
+            -96.0,
+            248.592
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-01-19_02-04-18_304878/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_02-04-18_304878/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7a06cec990ccd6426dea48168caa5d499a3b7823
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_02-04-18_304878/pose.jsonl
@@ -0,0 +1,717 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -633.8176643581968,
+            -101.16219826951983,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -636.41574056955,
+            -102.66219826951983,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -639.0138167809034,
+            -104.16219826951983,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -641.6118929922568,
+            -105.66219826951983,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -644.2099692036102,
+            -107.16219826951983,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -646.8080454149635,
+            -108.66219826951983,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -649.4061216263169,
+            -110.16219826951983,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -652.0041978376703,
+            -111.66219826951983,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -654.6022740490237,
+            -113.16219826951983,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -657.200350260377,
+            -114.66219826951983,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -659.7984264717304,
+            -116.16219826951983,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -662.3965026830838,
+            -117.66219826951983,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -664.9945788944372,
+            -119.16219826951983,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -667.5926551057905,
+            -120.66219826951983,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -670.1907313171439,
+            -122.16219826951983,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -672.7888075284973,
+            -123.66219826951983,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -675.3868837398506,
+            -125.16219826951983,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -677.984959951204,
+            -126.66219826951983,
+            131.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -677.984959951204,
+            -126.66219826951983,
+            134.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -677.984959951204,
+            -126.66219826951983,
+            137.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -677.984959951204,
+            -126.66219826951983,
+            140.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -677.984959951204,
+            -126.66219826951983,
+            143.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -677.984959951204,
+            -126.66219826951983,
+            146.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -677.984959951204,
+            -126.66219826951983,
+            149.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -677.984959951204,
+            -126.66219826951983,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -680.5830361625574,
+            -128.16219826951982,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915077
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -683.1811123739108,
+            -129.66219826951982,
+            152.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -683.1811123739108,
+            -129.66219826951982,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -686.1811123739108,
+            -129.66219826951982,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -689.1811123739108,
+            -129.66219826951982,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -692.1811123739108,
+            -129.66219826951982,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -695.1811123739108,
+            -129.66219826951982,
+            152.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -695.1811123739108,
+            -129.66219826951982,
+            152.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -695.1811123739108,
+            -129.66219826951982,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 4.1887902047863905
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -696.6811123739108,
+            -132.26027448087314,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -698.1811123739108,
+            -134.85835069222645,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -699.6811123739108,
+            -137.45642690357977,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -701.1811123739108,
+            -140.05450311493308,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -702.6811123739108,
+            -142.6525793262864,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -704.1811123739108,
+            -145.25065553763972,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -705.6811123739108,
+            -147.84873174899303,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -707.1811123739108,
+            -150.44680796034635,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -708.6811123739108,
+            -153.04488417169966,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -710.1811123739108,
+            -155.64296038305298,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -711.6811123739108,
+            -158.2410365944063,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -713.1811123739108,
+            -160.8391128057596,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -714.6811123739108,
+            -163.43718901711293,
+            152.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -714.6811123739108,
+            -163.43718901711293,
+            149.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -714.6811123739108,
+            -163.43718901711293,
+            146.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -714.6811123739108,
+            -163.43718901711293,
+            143.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -714.6811123739108,
+            -163.43718901711293,
+            140.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -714.6811123739108,
+            -163.43718901711293,
+            137.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -714.6811123739108,
+            -163.43718901711293,
+            134.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -714.6811123739108,
+            -163.43718901711293,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -744.0,
+            -184.0,
+            147.579
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-01-19_02-19-20_562328/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_02-19-20_562328/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b7359629a939b4e54bd3b78ea72aa189f5794e74
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_02-19-20_562328/pose.jsonl
@@ -0,0 +1,756 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -756.6556052768154,
+            -75.02069046997008,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -755.1556052768154,
+            -77.6187666813234,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -753.6556052768154,
+            -80.21684289267671,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -752.1556052768154,
+            -82.81491910403003,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -750.6556052768154,
+            -85.41299531538334,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -749.1556052768154,
+            -88.01107152673666,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -747.6556052768154,
+            -90.60914773808997,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -746.1556052768154,
+            -93.20722394944329,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -744.6556052768154,
+            -95.8053001607966,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -743.1556052768154,
+            -98.40337637214992,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -741.6556052768154,
+            -101.00145258350324,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -740.1556052768154,
+            -103.59952879485655,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -738.6556052768154,
+            -106.19760500620987,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -737.1556052768154,
+            -108.79568121756319,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -735.6556052768154,
+            -111.3937574289165,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -734.1556052768154,
+            -113.99183364026982,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -732.6556052768154,
+            -116.58990985162313,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -731.1556052768154,
+            -119.18798606297645,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -729.6556052768154,
+            -121.78606227432977,
+            131.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -729.6556052768154,
+            -121.78606227432977,
+            134.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -729.6556052768154,
+            -121.78606227432977,
+            137.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -729.6556052768154,
+            -121.78606227432977,
+            140.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -729.6556052768154,
+            -121.78606227432977,
+            143.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -729.6556052768154,
+            -121.78606227432977,
+            146.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -729.6556052768154,
+            -121.78606227432977,
+            149.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -729.6556052768154,
+            -121.78606227432977,
+            152.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -729.6556052768154,
+            -121.78606227432977,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -729.6556052768154,
+            -124.78606227432977,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -729.6556052768154,
+            -127.78606227432977,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -729.6556052768154,
+            -130.78606227432977,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -729.6556052768154,
+            -133.78606227432977,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -729.6556052768154,
+            -136.78606227432977,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -729.6556052768154,
+            -139.78606227432977,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -729.6556052768154,
+            -142.78606227432977,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -729.6556052768154,
+            -145.78606227432977,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -729.6556052768154,
+            -148.78606227432977,
+            152.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -729.6556052768154,
+            -148.78606227432977,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -728.1556052768154,
+            -151.38413848568308,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -726.6556052768154,
+            -153.9822146970364,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -725.1556052768154,
+            -156.5802909083897,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -723.6556052768154,
+            -159.17836711974303,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -722.1556052768154,
+            -161.77644333109635,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -720.6556052768154,
+            -164.37451954244966,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -719.1556052768154,
+            -166.97259575380298,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -717.6556052768154,
+            -169.5706719651563,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -716.1556052768154,
+            -172.1687481765096,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -714.6556052768154,
+            -174.76682438786293,
+            152.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -714.6556052768154,
+            -174.76682438786293,
+            149.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -714.6556052768154,
+            -174.76682438786293,
+            146.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -714.6556052768154,
+            -174.76682438786293,
+            143.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -714.6556052768154,
+            -174.76682438786293,
+            140.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -714.6556052768154,
+            -174.76682438786293,
+            137.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -714.6556052768154,
+            -174.76682438786293,
+            134.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -714.6556052768154,
+            -174.76682438786293,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -714.6556052768154,
+            -177.76682438786293,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -714.6556052768154,
+            -180.76682438786293,
+            134.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -714.6556052768154,
+            -180.76682438786293,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -708.0,
+            -200.0,
+            147.68
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-01-19_02-24-30_674690/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_02-24-30_674690/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4667f788980566c3508e1576dfa7018c799efd6c
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_02-24-30_674690/pose.jsonl
@@ -0,0 +1,691 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -735.743968528171,
+            -77.69236304306051,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -735.743968528171,
+            -80.69236304306051,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -735.743968528171,
+            -83.69236304306051,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -735.743968528171,
+            -86.69236304306051,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -735.743968528171,
+            -89.69236304306051,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -735.743968528171,
+            -92.69236304306051,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -735.743968528171,
+            -95.69236304306051,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -735.743968528171,
+            -98.69236304306051,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -735.743968528171,
+            -101.69236304306051,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -735.743968528171,
+            -104.69236304306051,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -735.743968528171,
+            -107.69236304306051,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -735.743968528171,
+            -110.69236304306051,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -735.743968528171,
+            -113.69236304306051,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -735.743968528171,
+            -116.69236304306051,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -735.743968528171,
+            -119.69236304306051,
+            131.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -735.743968528171,
+            -119.69236304306051,
+            134.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -735.743968528171,
+            -119.69236304306051,
+            137.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -735.743968528171,
+            -119.69236304306051,
+            140.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -735.743968528171,
+            -119.69236304306051,
+            143.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -735.743968528171,
+            -119.69236304306051,
+            146.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -735.743968528171,
+            -119.69236304306051,
+            149.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -735.743968528171,
+            -119.69236304306051,
+            152.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -735.743968528171,
+            -119.69236304306051,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -734.243968528171,
+            -122.29043925441383,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -732.743968528171,
+            -124.88851546576714,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -731.243968528171,
+            -127.48659167712046,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -729.743968528171,
+            -130.08466788847377,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -728.243968528171,
+            -132.6827440998271,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -726.743968528171,
+            -135.2808203111804,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -725.243968528171,
+            -137.87889652253372,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -723.743968528171,
+            -140.47697273388704,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -722.243968528171,
+            -143.07504894524035,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -720.743968528171,
+            -145.67312515659367,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -719.243968528171,
+            -148.271201367947,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -717.743968528171,
+            -150.8692775793003,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -716.243968528171,
+            -153.46735379065362,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -714.743968528171,
+            -156.06543000200693,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -713.243968528171,
+            -158.66350621336025,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -711.743968528171,
+            -161.26158242471357,
+            152.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -711.743968528171,
+            -161.26158242471357,
+            152.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -711.743968528171,
+            -161.26158242471357,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -713.243968528171,
+            -163.85965863606688,
+            152.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -714.743968528171,
+            -166.4577348474202,
+            152.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -714.743968528171,
+            -166.4577348474202,
+            149.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -714.743968528171,
+            -166.4577348474202,
+            146.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -714.743968528171,
+            -166.4577348474202,
+            143.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -714.743968528171,
+            -166.4577348474202,
+            140.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -714.743968528171,
+            -166.4577348474202,
+            137.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -714.743968528171,
+            -166.4577348474202,
+            134.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -714.743968528171,
+            -166.4577348474202,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -714.743968528171,
+            -169.4577348474202,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -714.743968528171,
+            -172.4577348474202,
+            134.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -708.0,
+            -200.0,
+            147.68
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-01-19_02-29-13_60532/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_02-29-13_60532/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..48477f6947a384be5145fda4ac5c2143f93a6bdd
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_02-29-13_60532/pose.jsonl
@@ -0,0 +1,925 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1070.2740939508517,
+            -1498.4480201556535,
+            131.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1070.2740939508517,
+            -1498.4480201556535,
+            134.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1070.2740939508517,
+            -1498.4480201556535,
+            137.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1070.2740939508517,
+            -1498.4480201556535,
+            140.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1070.2740939508517,
+            -1498.4480201556535,
+            143.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1070.2740939508517,
+            -1498.4480201556535,
+            146.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1070.2740939508517,
+            -1498.4480201556535,
+            149.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1070.2740939508517,
+            -1498.4480201556535,
+            152.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1070.2740939508517,
+            -1498.4480201556535,
+            155.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1070.2740939508517,
+            -1498.4480201556535,
+            158.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1070.2740939508517,
+            -1498.4480201556535,
+            161.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1070.2740939508517,
+            -1498.4480201556535,
+            164.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1070.2740939508517,
+            -1498.4480201556535,
+            167.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1070.2740939508517,
+            -1498.4480201556535,
+            170.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1070.2740939508517,
+            -1498.4480201556535,
+            173.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1070.2740939508517,
+            -1498.4480201556535,
+            176.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1070.2740939508517,
+            -1498.4480201556535,
+            179.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1070.2740939508517,
+            -1498.4480201556535,
+            182.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1070.2740939508517,
+            -1498.4480201556535,
+            182.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1070.2740939508517,
+            -1498.4480201556535,
+            182.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1070.2740939508517,
+            -1498.4480201556535,
+            182.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1070.2740939508517,
+            -1498.4480201556535,
+            182.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1070.2740939508517,
+            -1498.4480201556535,
+            182.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1067.6760177394983,
+            -1496.9480201556535,
+            182.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1067.6760177394983,
+            -1496.9480201556535,
+            185.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1067.6760177394983,
+            -1496.9480201556535,
+            188.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1067.6760177394983,
+            -1496.9480201556535,
+            188.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535897927
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1064.6760177394983,
+            -1496.9480201556535,
+            188.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1061.6760177394983,
+            -1496.9480201556535,
+            188.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1058.6760177394983,
+            -1496.9480201556535,
+            188.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1055.6760177394983,
+            -1496.9480201556535,
+            188.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1052.6760177394983,
+            -1496.9480201556535,
+            188.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1049.6760177394983,
+            -1496.9480201556535,
+            188.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1049.6760177394983,
+            -1496.9480201556535,
+            188.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1047.077941528145,
+            -1495.4480201556535,
+            188.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1044.4798653167916,
+            -1493.9480201556535,
+            188.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1041.8817891054382,
+            -1492.4480201556535,
+            188.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1039.2837128940848,
+            -1490.9480201556535,
+            188.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1036.6856366827315,
+            -1489.4480201556535,
+            188.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1034.087560471378,
+            -1487.9480201556535,
+            188.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1031.4894842600247,
+            -1486.4480201556535,
+            188.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1028.8914080486713,
+            -1484.9480201556535,
+            188.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1026.293331837318,
+            -1483.4480201556535,
+            188.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1023.6952556259646,
+            -1481.9480201556535,
+            188.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1021.0971794146112,
+            -1480.4480201556535,
+            188.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1021.0971794146112,
+            -1480.4480201556535,
+            185.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1021.0971794146112,
+            -1480.4480201556535,
+            182.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1021.0971794146112,
+            -1480.4480201556535,
+            179.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1021.0971794146112,
+            -1480.4480201556535,
+            176.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1021.0971794146112,
+            -1480.4480201556535,
+            173.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1021.0971794146112,
+            -1480.4480201556535,
+            170.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            1021.0971794146112,
+            -1480.4480201556535,
+            167.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            1021.0971794146112,
+            -1480.4480201556535,
+            164.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            1021.0971794146112,
+            -1480.4480201556535,
+            161.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            1021.0971794146112,
+            -1480.4480201556535,
+            158.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            1021.0971794146112,
+            -1480.4480201556535,
+            155.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            1021.0971794146112,
+            -1480.4480201556535,
+            152.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            1021.0971794146112,
+            -1480.4480201556535,
+            149.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            1021.0971794146112,
+            -1480.4480201556535,
+            146.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            1021.0971794146112,
+            -1480.4480201556535,
+            143.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            1018.4991032032578,
+            -1478.9480201556535,
+            143.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            1015.9010269919045,
+            -1477.4480201556535,
+            143.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            1013.3029507805511,
+            -1475.9480201556535,
+            143.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            1010.7048745691977,
+            -1474.4480201556535,
+            143.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            1010.7048745691977,
+            -1474.4480201556535,
+            140.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            1010.7048745691977,
+            -1474.4480201556535,
+            137.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            1010.7048745691977,
+            -1474.4480201556535,
+            134.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            1010.7048745691977,
+            -1474.4480201556535,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            1010.7048745691977,
+            -1474.4480201556535,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            1007.7048745691977,
+            -1474.4480201556535,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            960.0,
+            -1456.0,
+            192.957
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-01-19_02-35-57_523457/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_02-35-57_523457/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..53ecfda7f8c5e1821eddb0dc1f131ef710e7f7df
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_02-35-57_523457/pose.jsonl
@@ -0,0 +1,1575 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -95.71759201499694,
+            32.02752487321237,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -97.21759201499694,
+            29.429448661859055,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -97.21759201499694,
+            29.429448661859055,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -99.81566822635025,
+            27.929448661859055,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -102.41374443770357,
+            26.429448661859055,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -105.01182064905689,
+            24.929448661859055,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -107.6098968604102,
+            23.429448661859055,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -110.20797307176352,
+            21.929448661859055,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -112.80604928311683,
+            20.429448661859055,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -115.40412549447015,
+            18.929448661859055,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -118.00220170582347,
+            17.429448661859055,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -120.60027791717678,
+            15.929448661859055,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -123.1983541285301,
+            14.429448661859055,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -125.79643033988341,
+            12.929448661859055,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -128.39450655123673,
+            11.429448661859055,
+            131.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -128.39450655123673,
+            11.429448661859055,
+            134.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -128.39450655123673,
+            11.429448661859055,
+            137.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -128.39450655123673,
+            11.429448661859055,
+            140.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -128.39450655123673,
+            11.429448661859055,
+            143.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -128.39450655123673,
+            11.429448661859055,
+            146.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -128.39450655123673,
+            11.429448661859055,
+            149.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -128.39450655123673,
+            11.429448661859055,
+            152.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -128.39450655123673,
+            11.429448661859055,
+            155.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -128.39450655123673,
+            11.429448661859055,
+            158.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -128.39450655123673,
+            11.429448661859055,
+            161.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -128.39450655123673,
+            11.429448661859055,
+            161.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -131.39450655123673,
+            11.429448661859055,
+            161.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -134.39450655123673,
+            11.429448661859055,
+            161.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -137.39450655123673,
+            11.429448661859055,
+            161.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -140.39450655123673,
+            11.429448661859055,
+            161.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -140.39450655123673,
+            11.429448661859055,
+            164.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -140.39450655123673,
+            11.429448661859055,
+            167.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -140.39450655123673,
+            11.429448661859055,
+            170.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -140.39450655123673,
+            11.429448661859055,
+            173.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -140.39450655123673,
+            11.429448661859055,
+            176.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -140.39450655123673,
+            11.429448661859055,
+            179.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -140.39450655123673,
+            11.429448661859055,
+            182.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -140.39450655123673,
+            11.429448661859055,
+            185.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -140.39450655123673,
+            11.429448661859055,
+            188.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -140.39450655123673,
+            11.429448661859055,
+            191.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -140.39450655123673,
+            11.429448661859055,
+            194.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -140.39450655123673,
+            11.429448661859055,
+            197.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -140.39450655123673,
+            11.429448661859055,
+            200.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -140.39450655123673,
+            11.429448661859055,
+            203.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -140.39450655123673,
+            11.429448661859055,
+            206.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -140.39450655123673,
+            11.429448661859055,
+            209.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -140.39450655123673,
+            11.429448661859055,
+            212.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -140.39450655123673,
+            11.429448661859055,
+            215.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -140.39450655123673,
+            11.429448661859055,
+            218.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -140.39450655123673,
+            11.429448661859055,
+            221.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -140.39450655123673,
+            11.429448661859055,
+            224.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -140.39450655123673,
+            11.429448661859055,
+            227.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -140.39450655123673,
+            11.429448661859055,
+            230.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -140.39450655123673,
+            11.429448661859055,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -142.99258276259005,
+            9.929448661859055,
+            230.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -142.99258276259005,
+            9.929448661859055,
+            230.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -142.99258276259005,
+            9.929448661859055,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948968
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -142.99258276259005,
+            6.929448661859055,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -142.99258276259005,
+            3.9294486618590554,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            -142.99258276259005,
+            0.9294486618590554,
+            230.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            -142.99258276259005,
+            0.9294486618590554,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            -141.49258276259005,
+            -1.6686275494942606,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            -139.99258276259005,
+            -4.266703760847577,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            -138.49258276259005,
+            -6.864779972200893,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            -136.99258276259005,
+            -9.462856183554209,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            -135.49258276259005,
+            -12.060932394907525,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            -133.99258276259005,
+            -14.65900860626084,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            -132.49258276259005,
+            -17.257084817614157,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            -130.99258276259005,
+            -19.855161028967473,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            -129.49258276259005,
+            -22.45323724032079,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            -127.99258276259005,
+            -25.051313451674105,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            -126.49258276259005,
+            -27.64938966302742,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            -124.99258276259005,
+            -30.247465874380737,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            -123.49258276259005,
+            -32.84554208573405,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            -121.99258276259005,
+            -35.44361829708737,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            -120.49258276259005,
+            -38.041694508440685,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            -118.99258276259005,
+            -40.639770719794,
+            230.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            -118.99258276259005,
+            -40.639770719794,
+            227.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            -118.99258276259005,
+            -40.639770719794,
+            224.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            -118.99258276259005,
+            -40.639770719794,
+            221.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            -118.99258276259005,
+            -40.639770719794,
+            218.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            -118.99258276259005,
+            -40.639770719794,
+            215.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            -118.99258276259005,
+            -40.639770719794,
+            212.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            -118.99258276259005,
+            -40.639770719794,
+            209.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 84,
+        "pos": [
+            -118.99258276259005,
+            -40.639770719794,
+            206.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 85,
+        "pos": [
+            -118.99258276259005,
+            -40.639770719794,
+            203.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 86,
+        "pos": [
+            -118.99258276259005,
+            -40.639770719794,
+            200.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 87,
+        "pos": [
+            -118.99258276259005,
+            -40.639770719794,
+            197.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 88,
+        "pos": [
+            -118.99258276259005,
+            -40.639770719794,
+            194.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 89,
+        "pos": [
+            -118.99258276259005,
+            -40.639770719794,
+            191.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 90,
+        "pos": [
+            -118.99258276259005,
+            -40.639770719794,
+            188.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 91,
+        "pos": [
+            -118.99258276259005,
+            -40.639770719794,
+            185.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 92,
+        "pos": [
+            -118.99258276259005,
+            -40.639770719794,
+            182.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 93,
+        "pos": [
+            -118.99258276259005,
+            -40.639770719794,
+            179.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 94,
+        "pos": [
+            -118.99258276259005,
+            -40.639770719794,
+            176.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 95,
+        "pos": [
+            -118.99258276259005,
+            -40.639770719794,
+            173.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 96,
+        "pos": [
+            -118.99258276259005,
+            -40.639770719794,
+            170.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 97,
+        "pos": [
+            -118.99258276259005,
+            -40.639770719794,
+            167.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 98,
+        "pos": [
+            -118.99258276259005,
+            -40.639770719794,
+            164.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 99,
+        "pos": [
+            -118.99258276259005,
+            -40.639770719794,
+            161.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 100,
+        "pos": [
+            -118.99258276259005,
+            -40.639770719794,
+            158.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 101,
+        "pos": [
+            -117.49258276259005,
+            -43.23784693114732,
+            158.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 102,
+        "pos": [
+            -115.99258276259005,
+            -45.83592314250063,
+            158.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 103,
+        "pos": [
+            -114.49258276259005,
+            -48.43399935385395,
+            158.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 104,
+        "pos": [
+            -112.99258276259005,
+            -51.032075565207265,
+            158.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 105,
+        "pos": [
+            -111.49258276259005,
+            -53.63015177656058,
+            158.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 106,
+        "pos": [
+            -109.99258276259005,
+            -56.2282279879139,
+            158.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 107,
+        "pos": [
+            -108.49258276259005,
+            -58.82630419926721,
+            158.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 108,
+        "pos": [
+            -106.99258276259005,
+            -61.42438041062053,
+            158.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 109,
+        "pos": [
+            -106.99258276259005,
+            -61.42438041062053,
+            155.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 110,
+        "pos": [
+            -106.99258276259005,
+            -61.42438041062053,
+            152.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 111,
+        "pos": [
+            -106.99258276259005,
+            -61.42438041062053,
+            149.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 112,
+        "pos": [
+            -106.99258276259005,
+            -61.42438041062053,
+            146.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 113,
+        "pos": [
+            -106.99258276259005,
+            -61.42438041062053,
+            143.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 114,
+        "pos": [
+            -106.99258276259005,
+            -61.42438041062053,
+            140.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 115,
+        "pos": [
+            -106.99258276259005,
+            -61.42438041062053,
+            137.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 116,
+        "pos": [
+            -106.99258276259005,
+            -61.42438041062053,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 117,
+        "pos": [
+            -105.49258276259005,
+            -64.02245662197384,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 118,
+        "pos": [
+            -103.99258276259005,
+            -66.62053283332716,
+            134.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 119,
+        "pos": [
+            -103.99258276259005,
+            -66.62053283332716,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -104.0,
+            -96.0,
+            248.592
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-01-19_02-39-35_816633/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_02-39-35_816633/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7250dbb2ffb1c9ebc3e3e64960e56910a9c52850
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-01-19_02-39-35_816633/pose.jsonl
@@ -0,0 +1,1393 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -156.4675687999009,
+            16.365724649785108,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -153.4675687999009,
+            16.365724649785108,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -150.4675687999009,
+            16.365724649785108,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -150.4675687999009,
+            16.365724649785108,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -150.4675687999009,
+            16.365724649785108,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -148.9675687999009,
+            13.767648438431792,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -148.9675687999009,
+            13.767648438431792,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -146.3694925885476,
+            12.267648438431792,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -143.77141637719427,
+            10.767648438431792,
+            131.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -143.77141637719427,
+            10.767648438431792,
+            134.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -143.77141637719427,
+            10.767648438431792,
+            137.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -143.77141637719427,
+            10.767648438431792,
+            140.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -143.77141637719427,
+            10.767648438431792,
+            143.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -143.77141637719427,
+            10.767648438431792,
+            146.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -143.77141637719427,
+            10.767648438431792,
+            149.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -143.77141637719427,
+            10.767648438431792,
+            152.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -143.77141637719427,
+            10.767648438431792,
+            155.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -143.77141637719427,
+            10.767648438431792,
+            158.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -143.77141637719427,
+            10.767648438431792,
+            161.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -143.77141637719427,
+            10.767648438431792,
+            164.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -143.77141637719427,
+            10.767648438431792,
+            167.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -143.77141637719427,
+            10.767648438431792,
+            170.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -143.77141637719427,
+            10.767648438431792,
+            173.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -143.77141637719427,
+            10.767648438431792,
+            176.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -143.77141637719427,
+            10.767648438431792,
+            179.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -143.77141637719427,
+            10.767648438431792,
+            182.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -143.77141637719427,
+            10.767648438431792,
+            185.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -143.77141637719427,
+            10.767648438431792,
+            188.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -143.77141637719427,
+            10.767648438431792,
+            191.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -143.77141637719427,
+            10.767648438431792,
+            194.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -143.77141637719427,
+            10.767648438431792,
+            197.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -143.77141637719427,
+            10.767648438431792,
+            200.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -143.77141637719427,
+            10.767648438431792,
+            203.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -143.77141637719427,
+            10.767648438431792,
+            206.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -143.77141637719427,
+            10.767648438431792,
+            209.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -143.77141637719427,
+            10.767648438431792,
+            212.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -143.77141637719427,
+            10.767648438431792,
+            215.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -143.77141637719427,
+            10.767648438431792,
+            218.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -143.77141637719427,
+            10.767648438431792,
+            221.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -143.77141637719427,
+            10.767648438431792,
+            224.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -143.77141637719427,
+            10.767648438431792,
+            227.6344676312703
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -143.77141637719427,
+            10.767648438431792,
+            230.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -143.77141637719427,
+            10.767648438431792,
+            230.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -143.77141637719427,
+            10.767648438431792,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -143.77141637719427,
+            7.767648438431792,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -143.77141637719427,
+            4.767648438431792,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -143.77141637719427,
+            1.7676484384317916,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -143.77141637719427,
+            -1.2323515615682084,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -143.77141637719427,
+            -4.232351561568208,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -143.77141637719427,
+            -7.232351561568208,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -143.77141637719427,
+            -10.232351561568208,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -143.77141637719427,
+            -13.232351561568208,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -143.77141637719427,
+            -16.23235156156821,
+            230.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -143.77141637719427,
+            -19.23235156156821,
+            230.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -143.77141637719427,
+            -19.23235156156821,
+            227.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -143.77141637719427,
+            -19.23235156156821,
+            224.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -143.77141637719427,
+            -19.23235156156821,
+            221.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -143.77141637719427,
+            -19.23235156156821,
+            218.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -143.77141637719427,
+            -19.23235156156821,
+            215.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            -143.77141637719427,
+            -19.23235156156821,
+            212.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            -143.77141637719427,
+            -19.23235156156821,
+            209.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            -143.77141637719427,
+            -19.23235156156821,
+            206.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            -143.77141637719427,
+            -19.23235156156821,
+            203.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            -143.77141637719427,
+            -19.23235156156821,
+            200.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            -143.77141637719427,
+            -19.23235156156821,
+            197.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            -143.77141637719427,
+            -19.23235156156821,
+            194.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            -143.77141637719427,
+            -19.23235156156821,
+            191.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            -143.77141637719427,
+            -19.23235156156821,
+            188.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            -143.77141637719427,
+            -19.23235156156821,
+            185.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            -143.77141637719427,
+            -19.23235156156821,
+            182.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            -143.77141637719427,
+            -19.23235156156821,
+            182.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            -142.27141637719427,
+            -21.830427772921524,
+            182.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            -140.77141637719427,
+            -24.42850398427484,
+            182.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            -139.27141637719427,
+            -27.026580195628156,
+            182.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            -137.77141637719427,
+            -29.624656406981472,
+            182.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            -136.27141637719427,
+            -32.22273261833479,
+            182.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            -134.77141637719427,
+            -34.820808829688104,
+            182.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            -133.27141637719427,
+            -37.41888504104142,
+            182.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            -131.77141637719427,
+            -40.01696125239474,
+            182.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            -130.27141637719427,
+            -42.61503746374805,
+            182.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            -128.77141637719427,
+            -45.21311367510137,
+            182.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            -127.27141637719427,
+            -47.811189886454684,
+            182.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            -125.77141637719427,
+            -50.409266097808,
+            182.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 83,
+        "pos": [
+            -125.77141637719427,
+            -50.409266097808,
+            179.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 84,
+        "pos": [
+            -125.77141637719427,
+            -50.409266097808,
+            176.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 85,
+        "pos": [
+            -125.77141637719427,
+            -50.409266097808,
+            173.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 86,
+        "pos": [
+            -125.77141637719427,
+            -50.409266097808,
+            170.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 87,
+        "pos": [
+            -125.77141637719427,
+            -50.409266097808,
+            167.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 88,
+        "pos": [
+            -125.77141637719427,
+            -50.409266097808,
+            164.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 89,
+        "pos": [
+            -125.77141637719427,
+            -50.409266097808,
+            161.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 90,
+        "pos": [
+            -125.77141637719427,
+            -50.409266097808,
+            158.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 91,
+        "pos": [
+            -125.77141637719427,
+            -50.409266097808,
+            155.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 92,
+        "pos": [
+            -125.77141637719427,
+            -50.409266097808,
+            152.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 93,
+        "pos": [
+            -125.77141637719427,
+            -50.409266097808,
+            149.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 94,
+        "pos": [
+            -125.77141637719427,
+            -50.409266097808,
+            146.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 95,
+        "pos": [
+            -124.27141637719427,
+            -53.00734230916132,
+            146.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 96,
+        "pos": [
+            -122.77141637719427,
+            -55.60541852051463,
+            146.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 97,
+        "pos": [
+            -121.27141637719427,
+            -58.20349473186795,
+            146.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 98,
+        "pos": [
+            -119.77141637719427,
+            -60.801570943221265,
+            146.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 99,
+        "pos": [
+            -119.77141637719427,
+            -60.801570943221265,
+            143.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 100,
+        "pos": [
+            -119.77141637719427,
+            -60.801570943221265,
+            140.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 101,
+        "pos": [
+            -119.77141637719427,
+            -60.801570943221265,
+            137.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 102,
+        "pos": [
+            -119.77141637719427,
+            -60.801570943221265,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 103,
+        "pos": [
+            -118.27141637719427,
+            -63.39964715457458,
+            134.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 104,
+        "pos": [
+            -116.77141637719427,
+            -65.9977233659279,
+            134.6344676312703
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 105,
+        "pos": [
+            -116.77141637719427,
+            -65.9977233659279,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -104.0,
+            -96.0,
+            248.592
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_17-30-31_304089172/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_17-30-31_304089172/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bc4175778840ffb257fdb41cec1cee9302d0ff14
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_17-30-31_304089172/pose.jsonl
@@ -0,0 +1,509 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            139.7312598512259,
+            -158.02034203033176,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            138.2312598512259,
+            -155.42226581897845,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            136.7312598512259,
+            -152.82418960762513,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            135.2312598512259,
+            -150.2261133962718,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            133.7312598512259,
+            -147.6280371849185,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            132.2312598512259,
+            -145.02996097356518,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            130.7312598512259,
+            -142.43188476221187,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            129.2312598512259,
+            -139.83380855085855,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            127.7312598512259,
+            -137.23573233950523,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            126.2312598512259,
+            -134.63765612815192,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            124.7312598512259,
+            -132.0395799167986,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            123.2312598512259,
+            -129.44150370544529,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            121.7312598512259,
+            -126.84342749409197,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            120.2312598512259,
+            -124.24535128273865,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            118.7312598512259,
+            -121.64727507138534,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            117.2312598512259,
+            -119.04919886003202,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            115.7312598512259,
+            -116.4511226486787,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            114.2312598512259,
+            -113.85304643732539,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            112.7312598512259,
+            -111.25497022597207,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            111.2312598512259,
+            -108.65689401461876,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            109.7312598512259,
+            -106.05881780326544,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            108.2312598512259,
+            -103.46074159191213,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            106.7312598512259,
+            -100.86266538055881,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            105.2312598512259,
+            -98.2645891692055,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            103.7312598512259,
+            -95.66651295785218,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            102.2312598512259,
+            -93.06843674649886,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            100.7312598512259,
+            -90.47036053514555,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            99.2312598512259,
+            -87.87228432379223,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            97.7312598512259,
+            -85.27420811243891,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            96.2312598512259,
+            -82.6761319010856,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            94.7312598512259,
+            -80.07805568973228,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            93.2312598512259,
+            -77.47997947837897,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            91.7312598512259,
+            -74.88190326702565,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            90.2312598512259,
+            -72.28382705567233,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            88.7312598512259,
+            -69.68575084431902,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            87.2312598512259,
+            -67.0876746329657,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            85.7312598512259,
+            -64.48959842161238,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            84.2312598512259,
+            -61.89152221025907,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            72.0,
+            -36.0,
+            146.253
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_17-51-31_135497281/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_17-51-31_135497281/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..913daa5adae967c9e1302c4f394da88260b06ce2
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_17-51-31_135497281/pose.jsonl
@@ -0,0 +1,340 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -661.8375486146326,
+            -285.65576012135165,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -663.3375486146326,
+            -283.05768390999833,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -664.8375486146326,
+            -280.459607698645,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -666.3375486146326,
+            -277.8615314872917,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -667.8375486146326,
+            -275.2634552759384,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -669.3375486146326,
+            -272.66537906458507,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -670.8375486146326,
+            -270.06730285323175,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -672.3375486146326,
+            -267.46922664187844,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -673.8375486146326,
+            -264.8711504305251,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -675.3375486146326,
+            -262.2730742191718,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -676.8375486146326,
+            -259.6749980078185,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -678.3375486146326,
+            -257.07692179646517,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -679.8375486146326,
+            -254.47884558511186,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -681.3375486146326,
+            -251.88076937375854,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -682.8375486146326,
+            -249.28269316240522,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -684.3375486146326,
+            -246.6846169510519,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -685.8375486146326,
+            -244.0865407396986,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -685.8375486146326,
+            -244.0865407396986,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -688.435624825986,
+            -242.5865407396986,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -691.0337010373394,
+            -241.0865407396986,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -693.6317772486927,
+            -239.5865407396986,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -696.2298534600461,
+            -238.0865407396986,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -698.8279296713995,
+            -236.5865407396986,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -701.4260058827529,
+            -235.0865407396986,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -704.0240820941062,
+            -233.5865407396986,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -744.0,
+            -184.0,
+            147.579
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_17-51-8_982906996/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_17-51-8_982906996/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c875a4809664353c3964ed2c6274626b62fba37b
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_17-51-8_982906996/pose.jsonl
@@ -0,0 +1,431 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -152.49713396896965,
+            543.5066287037137,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -149.89905775761633,
+            545.0066287037137,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -149.89905775761633,
+            545.0066287037137,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -148.39905775761633,
+            547.604704915067,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -146.89905775761633,
+            550.2027811264204,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -145.39905775761633,
+            552.8008573377738,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -143.89905775761633,
+            555.3989335491272,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -143.89905775761633,
+            555.3989335491272,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -141.30098154626302,
+            556.8989335491272,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -138.7029053349097,
+            558.3989335491272,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -136.10482912355639,
+            559.8989335491272,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -133.50675291220307,
+            561.3989335491272,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -130.90867670084975,
+            562.8989335491272,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -128.31060048949644,
+            564.3989335491272,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -125.71252427814312,
+            565.8989335491272,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -123.1144480667898,
+            567.3989335491272,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -120.51637185543649,
+            568.8989335491272,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -117.91829564408317,
+            570.3989335491272,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -115.32021943272986,
+            571.8989335491272,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -112.72214322137654,
+            573.3989335491272,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -110.12406701002323,
+            574.8989335491272,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -107.52599079866991,
+            576.3989335491272,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -104.9279145873166,
+            577.8989335491272,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -102.32983837596328,
+            579.3989335491272,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -99.73176216460996,
+            580.8989335491272,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -97.13368595325665,
+            582.3989335491272,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -94.53560974190333,
+            583.8989335491272,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -91.93753353055001,
+            585.3989335491272,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -89.3394573191967,
+            586.8989335491272,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -86.74138110784338,
+            588.3989335491272,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -84.14330489649006,
+            589.8989335491272,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -81.54522868513675,
+            591.3989335491272,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -56.0,
+            608.0,
+            306.958
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_17-55-29_84353895/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_17-55-29_84353895/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..304bc490cd5bcd968761d48641a38683f44bc8c8
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_17-55-29_84353895/pose.jsonl
@@ -0,0 +1,275 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            975.7424034289235,
+            -521.7851110215953,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            974.2424034289235,
+            -519.187034810242,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            972.7424034289235,
+            -516.5889585988887,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            971.2424034289235,
+            -513.9908823875353,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            969.7424034289235,
+            -511.392806176182,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            968.2424034289235,
+            -508.79472996482866,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            966.7424034289235,
+            -506.19665375347535,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            965.2424034289235,
+            -503.59857754212203,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            965.2424034289235,
+            -503.59857754212203,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            962.6443272175702,
+            -502.09857754212203,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            960.0462510062168,
+            -500.59857754212203,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            957.4481747948635,
+            -499.09857754212203,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            954.8500985835101,
+            -497.59857754212203,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            952.2520223721567,
+            -496.09857754212203,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            949.6539461608033,
+            -494.59857754212203,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            947.05586994945,
+            -493.09857754212203,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            944.4577937380966,
+            -491.59857754212203,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            944.4577937380966,
+            -491.59857754212203,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            942.9577937380966,
+            -489.0005013307687,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            941.4577937380966,
+            -486.4024251194154,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            900.0,
+            -444.0,
+            149.898
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_17-59-57_1780695788/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_17-59-57_1780695788/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7af542a6ebee8bc28e76c4f0834fee0fab76d27c
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_17-59-57_1780695788/pose.jsonl
@@ -0,0 +1,561 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1050.8553050305995,
+            317.44710593788625,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1053.453381241953,
+            318.94710593788625,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1056.0514574533063,
+            320.44710593788625,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1058.6495336646597,
+            321.94710593788625,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1061.247609876013,
+            323.44710593788625,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1063.8456860873664,
+            324.94710593788625,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1066.4437622987198,
+            326.44710593788625,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1069.0418385100731,
+            327.94710593788625,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1071.6399147214265,
+            329.44710593788625,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1074.23799093278,
+            330.94710593788625,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1074.23799093278,
+            330.94710593788625,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1077.23799093278,
+            330.94710593788625,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1080.23799093278,
+            330.94710593788625,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1083.23799093278,
+            330.94710593788625,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1083.23799093278,
+            330.94710593788625,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1083.23799093278,
+            330.94710593788625,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1084.73799093278,
+            333.54518214923957,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1086.23799093278,
+            336.1432583605929,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1086.23799093278,
+            336.1432583605929,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1088.8360671441333,
+            337.6432583605929,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1091.4341433554866,
+            339.1432583605929,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1094.03221956684,
+            340.6432583605929,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1094.03221956684,
+            340.6432583605929,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1095.53221956684,
+            343.2413345719462,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1097.03221956684,
+            345.8394107832995,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1098.53221956684,
+            348.43748699465283,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1100.03221956684,
+            351.03556320600615,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1101.53221956684,
+            353.63363941735946,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1103.03221956684,
+            356.2317156287128,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1104.53221956684,
+            358.8297918400661,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1106.03221956684,
+            361.4278680514194,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1107.53221956684,
+            364.0259442627727,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1109.03221956684,
+            366.62402047412604,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1109.03221956684,
+            366.62402047412604,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1109.03221956684,
+            369.62402047412604,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1109.03221956684,
+            372.62402047412604,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1109.03221956684,
+            375.62402047412604,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1109.03221956684,
+            378.62402047412604,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1109.03221956684,
+            381.62402047412604,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1109.03221956684,
+            384.62402047412604,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1109.03221956684,
+            387.62402047412604,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1109.03221956684,
+            390.62402047412604,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1128.0,
+            412.0,
+            147.699
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_18-24-38_1409959708/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_18-24-38_1409959708/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0f6cf4dfcf08749ef3b1f54b807104de8423bdf5
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_18-24-38_1409959708/pose.jsonl
@@ -0,0 +1,158 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -505.01990463074833,
+            791.9365648561422,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -502.01990463074833,
+            791.9365648561422,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -499.01990463074833,
+            791.9365648561422,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -496.01990463074833,
+            791.9365648561422,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -493.01990463074833,
+            791.9365648561422,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -490.01990463074833,
+            791.9365648561422,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -490.01990463074833,
+            791.9365648561422,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -490.01990463074833,
+            791.9365648561422,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -488.51990463074833,
+            789.3384886447889,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -487.01990463074833,
+            786.7404124334355,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -485.51990463074833,
+            784.1423362220821,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -388.0,
+            736.0,
+            158.404
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_18-27-4_150122846/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_18-27-4_150122846/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..dce20e5ad7f2fc33938cb04ff535a621360b3bb6
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_18-27-4_150122846/pose.jsonl
@@ -0,0 +1,639 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -642.955658700467,
+            -23.997397369999618,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -641.455658700467,
+            -21.399321158646302,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -639.955658700467,
+            -18.801244947292986,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -638.455658700467,
+            -16.20316873593967,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -636.955658700467,
+            -13.605092524586354,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -635.455658700467,
+            -11.007016313233038,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -633.955658700467,
+            -8.408940101879722,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -632.455658700467,
+            -5.810863890526406,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -630.955658700467,
+            -3.21278767917309,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -629.455658700467,
+            -0.6147114678197738,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -627.955658700467,
+            1.9833647435335422,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -626.455658700467,
+            4.581440954886858,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -624.955658700467,
+            7.179517166240174,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -623.455658700467,
+            9.77759337759349,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -621.955658700467,
+            12.375669588946806,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -620.455658700467,
+            14.973745800300122,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -618.955658700467,
+            17.57182201165344,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -617.455658700467,
+            20.169898223006754,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -615.955658700467,
+            22.76797443436007,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -614.455658700467,
+            25.366050645713386,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -612.955658700467,
+            27.964126857066702,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -611.455658700467,
+            30.56220306842002,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -611.455658700467,
+            30.56220306842002,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -611.455658700467,
+            33.56220306842002,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -611.455658700467,
+            36.56220306842002,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -611.455658700467,
+            39.56220306842002,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -611.455658700467,
+            42.56220306842002,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -611.455658700467,
+            45.56220306842002,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -611.455658700467,
+            48.56220306842002,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -611.455658700467,
+            51.56220306842002,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -611.455658700467,
+            54.56220306842002,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -611.455658700467,
+            57.56220306842002,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -611.455658700467,
+            60.56220306842002,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -611.455658700467,
+            63.56220306842002,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -611.455658700467,
+            66.56220306842002,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -611.455658700467,
+            69.56220306842002,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -611.455658700467,
+            72.56220306842002,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -611.455658700467,
+            75.56220306842002,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -611.455658700467,
+            78.56220306842002,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -611.455658700467,
+            81.56220306842002,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -611.455658700467,
+            84.56220306842002,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -611.455658700467,
+            84.56220306842002,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -611.455658700467,
+            84.56220306842002,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982989
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -608.8575824891136,
+            86.06220306842002,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -606.2595062777602,
+            87.56220306842002,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -603.6614300664069,
+            89.06220306842002,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -603.6614300664069,
+            89.06220306842002,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -602.1614300664069,
+            91.66027927977333,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -596.0,
+            108.0,
+            130.693
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_18-29-36_338888228/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_18-29-36_338888228/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7f53a40f338ae445cb3c97d75a57a13b15fcc88f
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_18-29-36_338888228/pose.jsonl
@@ -0,0 +1,249 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -451.69070466545475,
+            835.4657176295152,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -450.19070466545475,
+            832.8676414181618,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -448.69070466545475,
+            830.2695652068085,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -447.19070466545475,
+            827.6714889954551,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -445.69070466545475,
+            825.0734127841017,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -444.19070466545475,
+            822.4753365727483,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -442.69070466545475,
+            819.877260361395,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -441.19070466545475,
+            817.2791841500416,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -439.69070466545475,
+            814.6811079386882,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -438.19070466545475,
+            812.0830317273349,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -436.69070466545475,
+            809.4849555159815,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -435.19070466545475,
+            806.8868793046281,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -433.69070466545475,
+            804.2888030932747,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -432.19070466545475,
+            801.6907268819214,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -430.69070466545475,
+            799.092650670568,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -429.19070466545475,
+            796.4945744592146,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -427.69070466545475,
+            793.8964982478612,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -426.19070466545475,
+            791.2984220365079,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -388.0,
+            736.0,
+            158.404
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_18-36-54_213975407/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_18-36-54_213975407/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ccd25c007790e559892e225a63b346400100fd99
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_18-36-54_213975407/pose.jsonl
@@ -0,0 +1,470 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -452.70924730869666,
+            864.5157601875745,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -455.30732352005,
+            863.0157601875745,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -457.9053997314033,
+            861.5157601875745,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -460.5034759427566,
+            860.0157601875745,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -463.1015521541099,
+            858.5157601875745,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -465.69962836546324,
+            857.0157601875745,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -468.29770457681656,
+            855.5157601875745,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -470.8957807881699,
+            854.0157601875745,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -473.4938569995232,
+            852.5157601875745,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -476.0919332108765,
+            851.0157601875745,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -478.6900094222298,
+            849.5157601875745,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -481.28808563358314,
+            848.0157601875745,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -483.88616184493645,
+            846.5157601875745,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -486.48423805628977,
+            845.0157601875745,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -489.0823142676431,
+            843.5157601875745,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -491.6803904789964,
+            842.0157601875745,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -494.2784666903497,
+            840.5157601875745,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -496.87654290170303,
+            839.0157601875745,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -499.47461911305635,
+            837.5157601875745,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -502.07269532440966,
+            836.0157601875745,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -504.670771535763,
+            834.5157601875745,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -507.2688477471163,
+            833.0157601875745,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -509.8669239584696,
+            831.5157601875745,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -512.4650001698229,
+            830.0157601875745,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -512.4650001698229,
+            830.0157601875745,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -513.9650001698229,
+            827.4176839762213,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -515.4650001698229,
+            824.8196077648679,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -516.9650001698229,
+            822.2215315535145,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -518.4650001698229,
+            819.6234553421612,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -519.9650001698229,
+            817.0253791308078,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -521.4650001698229,
+            814.4273029194544,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -522.9650001698229,
+            811.829226708101,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -524.4650001698229,
+            809.2311504967477,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -525.9650001698229,
+            806.6330742853943,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -527.4650001698229,
+            804.0349980740409,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -564.0,
+            772.0,
+            147.72
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_18-43-33_1909002904/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_18-43-33_1909002904/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5407b0dd42ad08cc55183d8ed258f55f64825457
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_18-43-33_1909002904/pose.jsonl
@@ -0,0 +1,535 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1056.8572903475724,
+            323.14970844746057,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1059.4553665589258,
+            324.64970844746057,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1059.4553665589258,
+            324.64970844746057,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1062.4553665589258,
+            324.64970844746057,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1065.4553665589258,
+            324.64970844746057,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1065.4553665589258,
+            324.64970844746057,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1068.0534427702792,
+            326.14970844746057,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1070.6515189816325,
+            327.64970844746057,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1073.249595192986,
+            329.14970844746057,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1075.8476714043393,
+            330.64970844746057,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1078.4457476156927,
+            332.14970844746057,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1081.043823827046,
+            333.64970844746057,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1081.043823827046,
+            333.64970844746057,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1084.043823827046,
+            333.64970844746057,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1084.043823827046,
+            333.64970844746057,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1086.6419000383994,
+            335.14970844746057,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1089.2399762497528,
+            336.64970844746057,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1091.8380524611061,
+            338.14970844746057,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1094.4361286724595,
+            339.64970844746057,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1097.034204883813,
+            341.14970844746057,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1099.6322810951663,
+            342.64970844746057,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1102.2303573065196,
+            344.14970844746057,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1102.2303573065196,
+            344.14970844746057,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1103.7303573065196,
+            346.7477846588139,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1105.2303573065196,
+            349.3458608701672,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1106.7303573065196,
+            351.9439370815205,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1108.2303573065196,
+            354.54201329287383,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1109.7303573065196,
+            357.14008950422715,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1111.2303573065196,
+            359.73816571558046,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1111.2303573065196,
+            359.73816571558046,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1111.2303573065196,
+            362.73816571558046,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1111.2303573065196,
+            365.73816571558046,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1111.2303573065196,
+            368.73816571558046,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1111.2303573065196,
+            371.73816571558046,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1111.2303573065196,
+            374.73816571558046,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1111.2303573065196,
+            377.73816571558046,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1111.2303573065196,
+            380.73816571558046,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1111.2303573065196,
+            383.73816571558046,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1111.2303573065196,
+            386.73816571558046,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1111.2303573065196,
+            389.73816571558046,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1128.0,
+            412.0,
+            147.699
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_18-52-54_2027907669/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_18-52-54_2027907669/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..41702ccf3514c81c74a1d777c2ffe91ac21ffdc0
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_18-52-54_2027907669/pose.jsonl
@@ -0,0 +1,353 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -801.2705707591956,
+            -88.01423452091083,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -799.7705707591956,
+            -90.61231073226415,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -798.2705707591956,
+            -93.21038694361746,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -796.7705707591956,
+            -95.80846315497078,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -795.2705707591956,
+            -98.4065393663241,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -793.7705707591956,
+            -101.00461557767741,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -792.2705707591956,
+            -103.60269178903073,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -790.7705707591956,
+            -106.20076800038404,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -789.2705707591956,
+            -108.79884421173736,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -787.7705707591956,
+            -111.39692042309068,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -786.2705707591956,
+            -113.99499663444399,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -784.7705707591956,
+            -116.59307284579731,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -783.2705707591956,
+            -119.19114905715062,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -781.7705707591956,
+            -121.78922526850394,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -780.2705707591956,
+            -124.38730147985726,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -778.7705707591956,
+            -126.98537769121057,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -777.2705707591956,
+            -129.5834539025639,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -775.7705707591956,
+            -132.1815301139172,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -774.2705707591956,
+            -134.77960632527052,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -772.7705707591956,
+            -137.37768253662384,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -771.2705707591956,
+            -139.97575874797715,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -769.7705707591956,
+            -142.57383495933047,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -768.2705707591956,
+            -145.17191117068379,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -766.7705707591956,
+            -147.7699873820371,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -765.2705707591956,
+            -150.36806359339042,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -763.7705707591956,
+            -152.96613980474373,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -744.0,
+            -184.0,
+            147.579
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_18-55-26_1789376348/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_18-55-26_1789376348/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5714ffe39ff125ad961fb893d9bbb7c91a8f5783
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_18-55-26_1789376348/pose.jsonl
@@ -0,0 +1,340 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            172.39421758399826,
+            -561.5305896869439,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            172.39421758399826,
+            -558.5305896869439,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            172.39421758399826,
+            -555.5305896869439,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            172.39421758399826,
+            -552.5305896869439,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            172.39421758399826,
+            -549.5305896869439,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            172.39421758399826,
+            -546.5305896869439,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            172.39421758399826,
+            -543.5305896869439,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            172.39421758399826,
+            -540.5305896869439,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            172.39421758399826,
+            -537.5305896869439,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            172.39421758399826,
+            -534.5305896869439,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            172.39421758399826,
+            -531.5305896869439,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            172.39421758399826,
+            -528.5305896869439,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            172.39421758399826,
+            -525.5305896869439,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            172.39421758399826,
+            -522.5305896869439,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            172.39421758399826,
+            -519.5305896869439,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            172.39421758399826,
+            -516.5305896869439,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            172.39421758399826,
+            -513.5305896869439,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            172.39421758399826,
+            -510.5305896869439,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            172.39421758399826,
+            -507.5305896869439,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            172.39421758399826,
+            -504.5305896869439,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            172.39421758399826,
+            -501.5305896869439,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            172.39421758399826,
+            -501.5305896869439,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            170.89421758399826,
+            -498.9325134755906,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            169.39421758399826,
+            -496.3344372642373,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            167.89421758399826,
+            -493.736361052884,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            164.0,
+            -456.0,
+            137.23
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_18-6-7_1984210012/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_18-6-7_1984210012/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..093ecaf82e869fe7197a6d8dd2e924984c52fa19
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_18-6-7_1984210012/pose.jsonl
@@ -0,0 +1,301 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            71.33150600790782,
+            -495.521796567556,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            74.33150600790782,
+            -495.521796567556,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            77.33150600790782,
+            -495.521796567556,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            80.33150600790782,
+            -495.521796567556,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            83.33150600790782,
+            -495.521796567556,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            83.33150600790782,
+            -495.521796567556,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            85.92958221926114,
+            -494.021796567556,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            88.52765843061445,
+            -492.521796567556,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            91.12573464196777,
+            -491.021796567556,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            93.72381085332108,
+            -489.521796567556,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            96.3218870646744,
+            -488.021796567556,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            98.91996327602772,
+            -486.521796567556,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            101.51803948738103,
+            -485.021796567556,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            104.11611569873435,
+            -483.521796567556,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            106.71419191008766,
+            -482.021796567556,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            109.31226812144098,
+            -480.521796567556,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            111.9103443327943,
+            -479.021796567556,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            114.50842054414761,
+            -477.521796567556,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            117.10649675550093,
+            -476.021796567556,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            119.70457296685424,
+            -474.521796567556,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            122.30264917820756,
+            -473.021796567556,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            124.90072538956088,
+            -471.521796567556,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            164.0,
+            -456.0,
+            137.23
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_18-7-59_1036140795/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_18-7-59_1036140795/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4e844d63b4961f0fa022f36224699b20fa0cede0
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_18-7-59_1036140795/pose.jsonl
@@ -0,0 +1,418 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1038.322039263128,
+            167.86269250121617,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1038.322039263128,
+            164.86269250121617,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1038.322039263128,
+            161.86269250121617,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1038.322039263128,
+            158.86269250121617,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1038.322039263128,
+            155.86269250121617,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1038.322039263128,
+            152.86269250121617,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1038.322039263128,
+            149.86269250121617,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1038.322039263128,
+            146.86269250121617,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1038.322039263128,
+            143.86269250121617,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1038.322039263128,
+            140.86269250121617,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1038.322039263128,
+            137.86269250121617,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1038.322039263128,
+            134.86269250121617,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1038.322039263128,
+            131.86269250121617,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1038.322039263128,
+            128.86269250121617,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1038.322039263128,
+            125.86269250121617,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1038.322039263128,
+            122.86269250121617,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1038.322039263128,
+            119.86269250121617,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1038.322039263128,
+            116.86269250121617,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1038.322039263128,
+            113.86269250121617,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1038.322039263128,
+            110.86269250121617,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1038.322039263128,
+            107.86269250121617,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1038.322039263128,
+            104.86269250121617,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1038.322039263128,
+            101.86269250121617,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1038.322039263128,
+            98.86269250121617,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1038.322039263128,
+            95.86269250121617,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1038.322039263128,
+            92.86269250121617,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1038.322039263128,
+            89.86269250121617,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1038.322039263128,
+            89.86269250121617,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1039.822039263128,
+            87.26461628986286,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1041.322039263128,
+            84.66654007850954,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1042.822039263128,
+            82.06846386715623,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1044.0,
+            56.0,
+            144.537
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_19-19-32_1823089412/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_19-19-32_1823089412/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0e1c573c3baa9348595c041506d6522ec520b060
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_19-19-32_1823089412/pose.jsonl
@@ -0,0 +1,119 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -976.3604776978026,
+            -50.964290529212235,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -977.8604776978026,
+            -48.36621431785892,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -979.3604776978026,
+            -45.7681381065056,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -980.8604776978026,
+            -43.17006189515229,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -982.3604776978026,
+            -40.57198568379897,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -983.8604776978026,
+            -37.973909472445655,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -985.3604776978026,
+            -35.37583326109234,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -986.8604776978026,
+            -32.77775704973902,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1044.0,
+            56.0,
+            144.537
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_19-19-41_1065103348/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_19-19-41_1065103348/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f2623460329c310108d7268603b5be69c05ffa51
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_19-19-41_1065103348/pose.jsonl
@@ -0,0 +1,314 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -558.5096427103359,
+            -150.0405913635377,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -555.9115664989827,
+            -148.5405913635377,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -553.3134902876293,
+            -147.0405913635377,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -550.7154140762759,
+            -145.5405913635377,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -548.1173378649225,
+            -144.0405913635377,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -545.5192616535692,
+            -142.5405913635377,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -542.9211854422158,
+            -141.0405913635377,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -540.3231092308624,
+            -139.5405913635377,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -537.725033019509,
+            -138.0405913635377,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -535.1269568081557,
+            -136.5405913635377,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -532.5288805968023,
+            -135.0405913635377,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -529.9308043854489,
+            -133.5405913635377,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -527.3327281740956,
+            -132.0405913635377,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -524.7346519627422,
+            -130.5405913635377,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -522.1365757513888,
+            -129.0405913635377,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -519.5384995400354,
+            -127.54059136353769,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -519.5384995400354,
+            -127.54059136353769,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -518.0384995400354,
+            -124.94251515218437,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -516.5384995400354,
+            -122.34443894083105,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -515.0384995400354,
+            -119.74636272947774,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -513.5384995400354,
+            -117.14828651812442,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -512.0384995400354,
+            -114.5502103067711,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -510.53849954003545,
+            -111.95213409541779,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -444.0,
+            -60.0,
+            434.554
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_19-23-36_1070575321/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_19-23-36_1070575321/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..448b0e3005e955216c509d7b0fb57c1c1eaef7ff
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_19-23-36_1070575321/pose.jsonl
@@ -0,0 +1,184 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            89.46632980810853,
+            893.0185111134638,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            86.86825359675521,
+            894.5185111134638,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            84.2701773854019,
+            896.0185111134638,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            81.67210117404858,
+            897.5185111134638,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            79.07402496269526,
+            899.0185111134638,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            76.47594875134195,
+            900.5185111134638,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            73.87787253998863,
+            902.0185111134638,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            71.27979632863531,
+            903.5185111134638,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            68.681720117282,
+            905.0185111134638,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            66.08364390592868,
+            906.5185111134638,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            63.485567694575366,
+            908.0185111134638,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            60.88749148322205,
+            909.5185111134638,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            58.289415271868734,
+            911.0185111134638,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -24.0,
+            960.0,
+            193.326
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_19-26-50_1065311705/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_19-26-50_1065311705/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d31dc5985b4068fa53b40ca8baf3c0e2c5a6d61a
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_19-26-50_1065311705/pose.jsonl
@@ -0,0 +1,405 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -874.4924284940881,
+            692.6670918936196,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -877.0905047054414,
+            694.1670918936196,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -879.6885809167948,
+            695.6670918936196,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -882.2866571281481,
+            697.1670918936196,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -884.8847333395015,
+            698.6670918936196,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -887.4828095508549,
+            700.1670918936196,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -890.0808857622083,
+            701.6670918936196,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -892.6789619735616,
+            703.1670918936196,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -895.277038184915,
+            704.6670918936196,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -897.8751143962684,
+            706.1670918936196,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -900.4731906076217,
+            707.6670918936196,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -903.0712668189751,
+            709.1670918936196,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -905.6693430303285,
+            710.6670918936196,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -908.2674192416819,
+            712.1670918936196,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -910.8654954530352,
+            713.6670918936196,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -913.4635716643886,
+            715.1670918936196,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -913.4635716643886,
+            715.1670918936196,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -916.4635716643886,
+            715.1670918936196,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -919.4635716643886,
+            715.1670918936196,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -922.4635716643886,
+            715.1670918936196,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -925.4635716643886,
+            715.1670918936196,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -928.4635716643886,
+            715.1670918936196,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -931.4635716643886,
+            715.1670918936196,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -934.4635716643886,
+            715.1670918936196,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -937.4635716643886,
+            715.1670918936196,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -940.4635716643886,
+            715.1670918936196,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -943.4635716643886,
+            715.1670918936196,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -946.4635716643886,
+            715.1670918936196,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -949.4635716643886,
+            715.1670918936196,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -952.4635716643886,
+            715.1670918936196,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1004.0,
+            732.0,
+            143.403
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_19-3-5_1402586708/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_19-3-5_1402586708/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..241f737a51518edce413d5767bce61a4c45f23b7
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_19-3-5_1402586708/pose.jsonl
@@ -0,0 +1,288 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -868.7081060883997,
+            -189.7809229632164,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -871.3061822997531,
+            -188.2809229632164,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -873.9042585111065,
+            -186.7809229632164,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -876.5023347224599,
+            -185.2809229632164,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -879.1004109338132,
+            -183.7809229632164,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -881.6984871451666,
+            -182.2809229632164,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -884.29656335652,
+            -180.7809229632164,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -886.8946395678734,
+            -179.2809229632164,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -889.4927157792267,
+            -177.7809229632164,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -892.0907919905801,
+            -176.2809229632164,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -894.6888682019335,
+            -174.7809229632164,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -897.2869444132868,
+            -173.2809229632164,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -899.8850206246402,
+            -171.7809229632164,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -902.4830968359936,
+            -170.2809229632164,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -905.081173047347,
+            -168.7809229632164,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -907.6792492587003,
+            -167.2809229632164,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -910.2773254700537,
+            -165.7809229632164,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -912.8754016814071,
+            -164.2809229632164,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -915.4734778927605,
+            -162.7809229632164,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -918.0715541041138,
+            -161.2809229632164,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -920.6696303154672,
+            -159.7809229632164,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -960.0,
+            -132.0,
+            141.65
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_19-30-21_619054081/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_19-30-21_619054081/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2ca49ebd3265ba034a8ddf9c954e00624fafb140
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_19-30-21_619054081/pose.jsonl
@@ -0,0 +1,509 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            890.2074753569029,
+            -1330.3508346421231,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            891.7074753569029,
+            -1332.9489108534765,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            893.2074753569029,
+            -1335.5469870648299,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            894.7074753569029,
+            -1338.1450632761832,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            896.2074753569029,
+            -1340.7431394875366,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            897.7074753569029,
+            -1343.34121569889,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            899.2074753569029,
+            -1345.9392919102434,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            900.7074753569029,
+            -1348.5373681215967,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            902.2074753569029,
+            -1351.13544433295,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            903.7074753569029,
+            -1353.7335205443035,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            905.2074753569029,
+            -1356.3315967556568,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            906.7074753569029,
+            -1358.9296729670102,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            908.2074753569029,
+            -1361.5277491783636,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            909.7074753569029,
+            -1364.125825389717,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            911.2074753569029,
+            -1366.7239016010703,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            912.7074753569029,
+            -1369.3219778124237,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            914.2074753569029,
+            -1371.920054023777,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            915.7074753569029,
+            -1374.5181302351305,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            917.2074753569029,
+            -1377.1162064464838,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            918.7074753569029,
+            -1379.7142826578372,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            920.2074753569029,
+            -1382.3123588691906,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            921.7074753569029,
+            -1384.910435080544,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            923.2074753569029,
+            -1387.5085112918973,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            924.7074753569029,
+            -1390.1065875032507,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            926.2074753569029,
+            -1392.704663714604,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            927.7074753569029,
+            -1395.3027399259574,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            929.2074753569029,
+            -1397.9008161373108,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            930.7074753569029,
+            -1400.4988923486642,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            932.2074753569029,
+            -1403.0969685600176,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            933.7074753569029,
+            -1405.695044771371,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            935.2074753569029,
+            -1408.2931209827243,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            936.7074753569029,
+            -1410.8911971940777,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            938.2074753569029,
+            -1413.489273405431,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            939.7074753569029,
+            -1416.0873496167844,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            941.2074753569029,
+            -1418.6854258281378,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            942.7074753569029,
+            -1421.2835020394912,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            944.2074753569029,
+            -1423.8815782508445,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            945.7074753569029,
+            -1426.479654462198,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            960.0,
+            -1456.0,
+            192.957
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_19-34-9_1046741222/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_19-34-9_1046741222/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..eb5354481cdba9e492340f508dde3f303324a4f4
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_19-34-9_1046741222/pose.jsonl
@@ -0,0 +1,236 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -808.5009410578098,
+            -196.80548844277448,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -805.5009410578098,
+            -196.80548844277448,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -802.5009410578098,
+            -196.80548844277448,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -799.5009410578098,
+            -196.80548844277448,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -796.5009410578098,
+            -196.80548844277448,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -793.5009410578098,
+            -196.80548844277448,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -790.5009410578098,
+            -196.80548844277448,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -787.5009410578098,
+            -196.80548844277448,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -784.5009410578098,
+            -196.80548844277448,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -781.5009410578098,
+            -196.80548844277448,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -778.5009410578098,
+            -196.80548844277448,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -775.5009410578098,
+            -196.80548844277448,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -772.5009410578098,
+            -196.80548844277448,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -769.5009410578098,
+            -196.80548844277448,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -766.5009410578098,
+            -196.80548844277448,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -763.5009410578098,
+            -196.80548844277448,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -760.5009410578098,
+            -196.80548844277448,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -708.0,
+            -200.0,
+            147.68
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_19-4-25_559412924/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_19-4-25_559412924/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e70256b24dd2ec2c1b877af61fc866363fb06b20
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_19-4-25_559412924/pose.jsonl
@@ -0,0 +1,366 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            254.2884738541844,
+            -375.893309376052,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            251.69039764283107,
+            -377.393309376052,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            249.09232143147776,
+            -378.893309376052,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            246.49424522012444,
+            -380.393309376052,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            243.89616900877112,
+            -381.893309376052,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            241.2980927974178,
+            -383.393309376052,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            238.7000165860645,
+            -384.893309376052,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            236.10194037471118,
+            -386.393309376052,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            233.50386416335786,
+            -387.893309376052,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            230.90578795200454,
+            -389.393309376052,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            228.30771174065123,
+            -390.893309376052,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            225.7096355292979,
+            -392.393309376052,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            223.1115593179446,
+            -393.893309376052,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            223.1115593179446,
+            -393.893309376052,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            221.6115593179446,
+            -396.4913855874053,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            220.1115593179446,
+            -399.08946179875863,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            218.6115593179446,
+            -401.68753801011195,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            217.1115593179446,
+            -404.28561422146527,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            215.6115593179446,
+            -406.8836904328186,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            214.1115593179446,
+            -409.4817666441719,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            212.6115593179446,
+            -412.0798428555252,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            211.1115593179446,
+            -414.67791906687853,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            209.6115593179446,
+            -417.27599527823185,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            208.1115593179446,
+            -419.87407148958516,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            208.1115593179446,
+            -419.87407148958516,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            205.51348310659128,
+            -421.37407148958516,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            202.91540689523796,
+            -422.87407148958516,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            164.0,
+            -456.0,
+            137.23
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_19-4-59_1473442062/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_19-4-59_1473442062/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..329019596d704c8ea8c80dd69bb0c33b5234f55d
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_19-4-59_1473442062/pose.jsonl
@@ -0,0 +1,262 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -651.5775751080563,
+            -174.94827610391945,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -648.5775751080563,
+            -174.94827610391945,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -645.5775751080563,
+            -174.94827610391945,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -642.5775751080563,
+            -174.94827610391945,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -639.5775751080563,
+            -174.94827610391945,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -636.5775751080563,
+            -174.94827610391945,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -633.5775751080563,
+            -174.94827610391945,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -630.5775751080563,
+            -174.94827610391945,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -627.5775751080563,
+            -174.94827610391945,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -624.5775751080563,
+            -174.94827610391945,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -621.5775751080563,
+            -174.94827610391945,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -618.5775751080563,
+            -174.94827610391945,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -615.5775751080563,
+            -174.94827610391945,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -615.5775751080563,
+            -174.94827610391945,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -612.979498896703,
+            -176.44827610391945,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -610.3814226853497,
+            -177.94827610391945,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -607.7833464739963,
+            -179.44827610391945,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -605.1852702626429,
+            -180.94827610391945,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -602.5871940512895,
+            -182.44827610391945,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -552.0,
+            -188.0,
+            158.828
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_19-43-9_964445884/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_19-43-9_964445884/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..31f87d48f039b84b4c99a8d222b0eca8234013f1
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_19-43-9_964445884/pose.jsonl
@@ -0,0 +1,366 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -473.9345536591948,
+            110.30997331758303,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -476.53262987054813,
+            108.80997331758303,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -479.13070608190145,
+            107.30997331758303,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -481.72878229325477,
+            105.80997331758303,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -484.3268585046081,
+            104.30997331758303,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -486.9249347159614,
+            102.80997331758303,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -489.5230109273147,
+            101.30997331758303,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -492.12108713866803,
+            99.80997331758303,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -494.71916335002135,
+            98.30997331758303,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -497.31723956137466,
+            96.80997331758303,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -499.915315772728,
+            95.30997331758303,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -502.5133919840813,
+            93.80997331758303,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -505.1114681954346,
+            92.30997331758303,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -507.7095444067879,
+            90.80997331758303,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -510.30762061814124,
+            89.30997331758303,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -512.9056968294946,
+            87.80997331758303,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -515.5037730408478,
+            86.30997331758303,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -518.1018492522012,
+            84.80997331758303,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -520.6999254635546,
+            83.30997331758303,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -523.2980016749079,
+            81.80997331758303,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -525.8960778862613,
+            80.30997331758303,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -528.4941540976147,
+            78.80997331758303,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -531.092230308968,
+            77.30997331758303,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -531.092230308968,
+            77.30997331758303,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -534.092230308968,
+            77.30997331758303,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -537.092230308968,
+            77.30997331758303,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -540.092230308968,
+            77.30997331758303,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -564.0,
+            64.0,
+            128.669
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_19-48-39_1676902021/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_19-48-39_1676902021/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..585a0aace0c13a53a4f58d2e45ca29da9f2c4b18
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_19-48-39_1676902021/pose.jsonl
@@ -0,0 +1,431 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -834.3538399139766,
+            -193.37022295683872,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -836.95191612533,
+            -191.87022295683872,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -839.5499923366833,
+            -190.37022295683872,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -842.1480685480367,
+            -188.87022295683872,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -844.7461447593901,
+            -187.37022295683872,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -847.3442209707434,
+            -185.87022295683872,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -849.9422971820968,
+            -184.37022295683872,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -852.5403733934502,
+            -182.87022295683872,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -855.1384496048036,
+            -181.37022295683872,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -857.7365258161569,
+            -179.87022295683872,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -860.3346020275103,
+            -178.37022295683872,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -862.9326782388637,
+            -176.87022295683872,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -865.530754450217,
+            -175.37022295683872,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -868.1288306615704,
+            -173.87022295683872,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -870.7269068729238,
+            -172.37022295683872,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -873.3249830842772,
+            -170.87022295683872,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -875.9230592956305,
+            -169.37022295683872,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -878.5211355069839,
+            -167.87022295683872,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -881.1192117183373,
+            -166.37022295683872,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -883.7172879296907,
+            -164.87022295683872,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -886.315364141044,
+            -163.37022295683872,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -888.9134403523974,
+            -161.87022295683872,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -891.5115165637508,
+            -160.37022295683872,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -894.1095927751041,
+            -158.87022295683872,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -896.7076689864575,
+            -157.37022295683872,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -899.3057451978109,
+            -155.87022295683872,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -901.9038214091643,
+            -154.37022295683872,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -904.5018976205176,
+            -152.87022295683872,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -904.5018976205176,
+            -152.87022295683872,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -907.5018976205176,
+            -152.87022295683872,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -910.5018976205176,
+            -152.87022295683872,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -913.5018976205176,
+            -152.87022295683872,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -960.0,
+            -132.0,
+            141.65
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_19-55-34_1781999754/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_19-55-34_1781999754/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..dccf2c5fe3aee2977bbbc48e6982f2232823c67a
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_19-55-34_1781999754/pose.jsonl
@@ -0,0 +1,93 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -358.73384357277575,
+            631.4849501028148,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -360.23384357277575,
+            634.0830263141681,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -361.73384357277575,
+            636.6811025255215,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -361.73384357277575,
+            636.6811025255215,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -361.73384357277575,
+            639.6811025255215,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -361.73384357277575,
+            642.6811025255215,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -388.0,
+            736.0,
+            158.404
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_19-55-41_150517567/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_19-55-41_150517567/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..280d714a065753597c648eac502d127a14fc1486
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_19-55-41_150517567/pose.jsonl
@@ -0,0 +1,405 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1496.700264702428,
+            -240.19719692168727,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1495.200264702428,
+            -242.79527313304058,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1493.700264702428,
+            -245.3933493443939,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1492.200264702428,
+            -247.9914255557472,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1490.700264702428,
+            -250.58950176710053,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1489.200264702428,
+            -253.18757797845385,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1487.700264702428,
+            -255.78565418980716,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1486.200264702428,
+            -258.3837304011605,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393191
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1484.700264702428,
+            -260.9818066125138,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1483.200264702428,
+            -263.57988282386714,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1481.700264702428,
+            -266.17795903522045,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1480.200264702428,
+            -268.77603524657377,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1478.700264702428,
+            -271.3741114579271,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1477.200264702428,
+            -273.9721876692804,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1475.700264702428,
+            -276.5702638806337,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1474.200264702428,
+            -279.16834009198703,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1472.700264702428,
+            -281.76641630334035,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1471.200264702428,
+            -284.36449251469367,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1469.700264702428,
+            -286.962568726047,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1468.200264702428,
+            -289.5606449374003,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1466.700264702428,
+            -292.1587211487536,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1465.200264702428,
+            -294.75679736010693,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1463.700264702428,
+            -297.35487357146025,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1462.200264702428,
+            -299.95294978281356,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1460.700264702428,
+            -302.5510259941669,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1460.700264702428,
+            -302.5510259941669,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1460.700264702428,
+            -305.5510259941669,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1460.700264702428,
+            -308.5510259941669,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1460.700264702428,
+            -311.5510259941669,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1460.700264702428,
+            -314.5510259941669,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1452.0,
+            -336.0,
+            120.709
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_19-6-48_1273911899/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_19-6-48_1273911899/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..400a49778d744d94aab35f0baaf04343f324a0ed
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_19-6-48_1273911899/pose.jsonl
@@ -0,0 +1,275 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1058.8959657132061,
+            -1400.3076809272336,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1056.2978895018528,
+            -1401.8076809272336,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1053.6998132904994,
+            -1403.3076809272336,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1051.101737079146,
+            -1404.8076809272336,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1048.5036608677926,
+            -1406.3076809272336,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1045.9055846564393,
+            -1407.8076809272336,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1043.307508445086,
+            -1409.3076809272336,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1040.7094322337325,
+            -1410.8076809272336,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1038.1113560223791,
+            -1412.3076809272336,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1035.5132798110258,
+            -1413.8076809272336,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1032.9152035996724,
+            -1415.3076809272336,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1030.317127388319,
+            -1416.8076809272336,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1027.7190511769656,
+            -1418.3076809272336,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1025.1209749656123,
+            -1419.8076809272336,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1022.5228987542589,
+            -1421.3076809272336,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1019.9248225429055,
+            -1422.8076809272336,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1017.3267463315522,
+            -1424.3076809272336,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1014.7286701201988,
+            -1425.8076809272336,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1012.1305939088454,
+            -1427.3076809272336,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1009.532517697492,
+            -1428.8076809272336,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            960.0,
+            -1456.0,
+            192.957
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_20-1-9_1671294892/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_20-1-9_1671294892/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..19fc95e22a0e45a78da95191f965f2c7cf0fec3e
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_20-1-9_1671294892/pose.jsonl
@@ -0,0 +1,483 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1375.547535078743,
+            -512.7098566617472,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1377.047535078743,
+            -510.11178045039384,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1378.547535078743,
+            -507.5137042390405,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1380.047535078743,
+            -504.9156280276872,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1381.547535078743,
+            -502.3175518163339,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1383.047535078743,
+            -499.7194756049806,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1384.547535078743,
+            -497.12139939362726,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1386.047535078743,
+            -494.52332318227394,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1387.547535078743,
+            -491.9252469709206,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1389.047535078743,
+            -489.3271707595673,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1390.547535078743,
+            -486.729094548214,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1392.047535078743,
+            -484.1310183368607,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1393.547535078743,
+            -481.53294212550736,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1395.047535078743,
+            -478.93486591415405,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1396.547535078743,
+            -476.33678970280073,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1398.047535078743,
+            -473.7387134914474,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1399.547535078743,
+            -471.1406372800941,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1401.047535078743,
+            -468.5425610687408,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1402.547535078743,
+            -465.94448485738747,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1404.047535078743,
+            -463.34640864603415,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1405.547535078743,
+            -460.74833243468083,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1407.047535078743,
+            -458.1502562233275,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1408.547535078743,
+            -455.5521800119742,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1410.047535078743,
+            -452.9541038006209,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1411.547535078743,
+            -450.35602758926757,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1413.047535078743,
+            -447.75795137791425,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1414.547535078743,
+            -445.15987516656094,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1416.047535078743,
+            -442.5617989552076,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1417.547535078743,
+            -439.9637227438543,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1419.047535078743,
+            -437.365646532501,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1420.547535078743,
+            -434.7675703211477,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1420.547535078743,
+            -434.7675703211477,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1423.1456112900964,
+            -433.2675703211477,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1425.7436875014498,
+            -431.7675703211477,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1428.3417637128032,
+            -430.2675703211477,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1430.9398399241566,
+            -428.7675703211477,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1452.0,
+            -396.0,
+            151.137
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_20-14-25_1387036159/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_20-14-25_1387036159/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f2b53e2008e0e446a41751ff3a3a1fd83706859d
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_20-14-25_1387036159/pose.jsonl
@@ -0,0 +1,444 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1282.2815696389769,
+            458.01369227065356,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1283.7815696389769,
+            455.41561605930025,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1285.2815696389769,
+            452.81753984794693,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1286.7815696389769,
+            450.2194636365936,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1288.2815696389769,
+            447.6213874252403,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1289.7815696389769,
+            445.023311213887,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1291.2815696389769,
+            442.42523500253367,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1292.7815696389769,
+            439.82715879118035,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1294.2815696389769,
+            437.22908257982704,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1295.7815696389769,
+            434.6310063684737,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1297.2815696389769,
+            432.0329301571204,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1298.7815696389769,
+            429.4348539457671,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1300.2815696389769,
+            426.8367777344138,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1301.7815696389769,
+            424.23870152306046,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1303.2815696389769,
+            421.64062531170714,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1304.7815696389769,
+            419.0425491003538,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1306.2815696389769,
+            416.4444728890005,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1307.7815696389769,
+            413.8463966776472,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1309.2815696389769,
+            411.2483204662939,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1310.7815696389769,
+            408.65024425494056,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1312.2815696389769,
+            406.05216804358724,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1313.7815696389769,
+            403.4540918322339,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1315.2815696389769,
+            400.8560156208806,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1316.7815696389769,
+            398.2579394095273,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1318.2815696389769,
+            395.659863198174,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1319.7815696389769,
+            393.06178698682066,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1321.2815696389769,
+            390.46371077546735,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1322.7815696389769,
+            387.86563456411403,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1324.2815696389769,
+            385.2675583527607,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1325.7815696389769,
+            382.6694821414074,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1327.2815696389769,
+            380.0714059300541,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1328.7815696389769,
+            377.47332971870077,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1330.2815696389769,
+            374.87525350734745,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1352.0,
+            340.0,
+            131.309
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_20-15-15_1144522535/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_20-15-15_1144522535/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2941f4436d5aa85c4fc6ce8ea1b87e8b7fb49de0
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_20-15-15_1144522535/pose.jsonl
@@ -0,0 +1,574 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1040.7738565158386,
+            204.25936794309115,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1040.7738565158386,
+            201.25936794309115,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1040.7738565158386,
+            198.25936794309115,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1040.7738565158386,
+            195.25936794309115,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1040.7738565158386,
+            192.25936794309115,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1040.7738565158386,
+            189.25936794309115,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1040.7738565158386,
+            186.25936794309115,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1040.7738565158386,
+            183.25936794309115,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1040.7738565158386,
+            180.25936794309115,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1040.7738565158386,
+            177.25936794309115,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1040.7738565158386,
+            174.25936794309115,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1040.7738565158386,
+            171.25936794309115,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1040.7738565158386,
+            168.25936794309115,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1040.7738565158386,
+            165.25936794309115,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1040.7738565158386,
+            162.25936794309115,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1040.7738565158386,
+            159.25936794309115,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1040.7738565158386,
+            156.25936794309115,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1040.7738565158386,
+            153.25936794309115,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1040.7738565158386,
+            150.25936794309115,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1040.7738565158386,
+            147.25936794309115,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1040.7738565158386,
+            144.25936794309115,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1040.7738565158386,
+            141.25936794309115,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1040.7738565158386,
+            138.25936794309115,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1040.7738565158386,
+            135.25936794309115,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1040.7738565158386,
+            132.25936794309115,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1040.7738565158386,
+            129.25936794309115,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1040.7738565158386,
+            126.25936794309115,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1040.7738565158386,
+            123.25936794309115,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1040.7738565158386,
+            120.25936794309115,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1040.7738565158386,
+            117.25936794309115,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1040.7738565158386,
+            114.25936794309115,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1040.7738565158386,
+            111.25936794309115,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1040.7738565158386,
+            108.25936794309115,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1040.7738565158386,
+            105.25936794309115,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1040.7738565158386,
+            102.25936794309115,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1040.7738565158386,
+            99.25936794309115,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1040.7738565158386,
+            96.25936794309115,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1040.7738565158386,
+            93.25936794309115,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1040.7738565158386,
+            90.25936794309115,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1040.7738565158386,
+            87.25936794309115,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1040.7738565158386,
+            84.25936794309115,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1040.7738565158386,
+            84.25936794309115,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -1042.2738565158386,
+            81.66129173173783,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1044.0,
+            56.0,
+            144.537
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_20-26-12_337453826/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_20-26-12_337453826/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..280d5b916527d90221de5b64ee4dd35fdf58cdb5
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_20-26-12_337453826/pose.jsonl
@@ -0,0 +1,327 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -270.36300375164694,
+            797.4546316996609,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -272.96107996300026,
+            795.9546316996609,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -275.5591561743536,
+            794.4546316996609,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -278.1572323857069,
+            792.9546316996609,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -280.7553085970602,
+            791.4546316996609,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -283.3533848084135,
+            789.9546316996609,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -285.95146101976684,
+            788.4546316996609,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -288.54953723112015,
+            786.9546316996609,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -291.14761344247347,
+            785.4546316996609,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -293.7456896538268,
+            783.9546316996609,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -296.3437658651801,
+            782.4546316996609,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -298.9418420765334,
+            780.9546316996609,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -301.53991828788674,
+            779.4546316996609,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -304.13799449924005,
+            777.9546316996609,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -306.73607071059337,
+            776.4546316996609,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -309.3341469219467,
+            774.9546316996609,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -311.9322231333,
+            773.4546316996609,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -314.5302993446533,
+            771.9546316996609,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -317.12837555600663,
+            770.4546316996609,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -319.72645176735995,
+            768.9546316996609,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -322.32452797871326,
+            767.4546316996609,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -324.9226041900666,
+            765.9546316996609,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -324.9226041900666,
+            765.9546316996609,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -327.9226041900666,
+            765.9546316996609,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -388.0,
+            736.0,
+            158.404
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_20-28-20_847228023/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_20-28-20_847228023/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..715d885562d4dde075ab28420104115a3e5d695d
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_20-28-20_847228023/pose.jsonl
@@ -0,0 +1,470 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            798.9592465449156,
+            -506.6260193979022,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            800.4592465449156,
+            -504.0279431865489,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            801.9592465449156,
+            -501.4298669751956,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            803.4592465449156,
+            -498.83179076384226,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            803.4592465449156,
+            -498.83179076384226,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            806.0573227562688,
+            -497.33179076384226,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            808.6553989676222,
+            -495.83179076384226,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            811.2534751789756,
+            -494.33179076384226,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            813.851551390329,
+            -492.83179076384226,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            816.4496276016823,
+            -491.33179076384226,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            819.0477038130357,
+            -489.83179076384226,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            821.6457800243891,
+            -488.33179076384226,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            824.2438562357424,
+            -486.83179076384226,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            826.8419324470958,
+            -485.33179076384226,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            829.4400086584492,
+            -483.83179076384226,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            832.0380848698026,
+            -482.33179076384226,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            834.6361610811559,
+            -480.83179076384226,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            837.2342372925093,
+            -479.33179076384226,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            839.8323135038627,
+            -477.83179076384226,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            842.430389715216,
+            -476.33179076384226,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            845.0284659265694,
+            -474.83179076384226,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            847.6265421379228,
+            -473.33179076384226,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            850.2246183492762,
+            -471.83179076384226,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            852.8226945606295,
+            -470.33179076384226,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            855.4207707719829,
+            -468.83179076384226,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            858.0188469833363,
+            -467.33179076384226,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            860.6169231946897,
+            -465.83179076384226,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            863.214999406043,
+            -464.33179076384226,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            865.8130756173964,
+            -462.83179076384226,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            868.4111518287498,
+            -461.33179076384226,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            871.0092280401032,
+            -459.83179076384226,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            873.6073042514565,
+            -458.33179076384226,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            876.2053804628099,
+            -456.83179076384226,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            878.8034566741633,
+            -455.33179076384226,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            881.4015328855166,
+            -453.83179076384226,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            900.0,
+            -444.0,
+            149.898
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_20-3-36_1448703729/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_20-3-36_1448703729/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..eba44dfa5500890e4b8dce3eaa3ce2bec663bec6
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_20-3-36_1448703729/pose.jsonl
@@ -0,0 +1,444 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1407.4085194535683,
+            414.4239190825187,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1404.4085194535683,
+            414.4239190825187,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1401.4085194535683,
+            414.4239190825187,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1401.4085194535683,
+            414.4239190825187,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1401.4085194535683,
+            414.4239190825187,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1399.9085194535683,
+            417.021995293872,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1398.4085194535683,
+            419.6200715052253,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1396.9085194535683,
+            422.21814771657864,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1395.4085194535683,
+            424.81622392793196,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1393.9085194535683,
+            427.4143001392853,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1392.4085194535683,
+            430.0123763506386,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1390.9085194535683,
+            432.6104525619919,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1389.4085194535683,
+            435.2085287733452,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1387.9085194535683,
+            437.80660498469854,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1386.4085194535683,
+            440.40468119605185,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1384.9085194535683,
+            443.00275740740517,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1383.4085194535683,
+            445.6008336187585,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1381.9085194535683,
+            448.1989098301118,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1380.4085194535683,
+            450.7969860414651,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1378.9085194535683,
+            453.39506225281843,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1377.4085194535683,
+            455.99313846417175,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1375.9085194535683,
+            458.59121467552507,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1374.4085194535683,
+            461.1892908868784,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1372.9085194535683,
+            463.7873670982317,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1371.4085194535683,
+            466.385443309585,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1369.9085194535683,
+            468.98351952093833,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1368.4085194535683,
+            471.58159573229165,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1366.9085194535683,
+            474.17967194364496,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1365.4085194535683,
+            476.7777481549983,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1363.9085194535683,
+            479.3758243663516,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1363.9085194535683,
+            479.3758243663516,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1361.310443242215,
+            480.8758243663516,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1358.7123670308615,
+            482.3758243663516,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1336.0,
+            508.0,
+            177.171
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_20-3-57_1679895436/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_20-3-57_1679895436/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c3fd410f9e38b313411852f6a3cae0a074ea7c79
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_20-3-57_1679895436/pose.jsonl
@@ -0,0 +1,301 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -678.2048797546385,
+            -286.1479950801677,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -679.7048797546385,
+            -283.54991886881436,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -681.2048797546385,
+            -280.95184265746104,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -682.7048797546385,
+            -278.3537664461077,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -684.2048797546385,
+            -275.7556902347544,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -685.7048797546385,
+            -273.1576140234011,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -687.2048797546385,
+            -270.5595378120478,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -688.7048797546385,
+            -267.96146160069446,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -690.2048797546385,
+            -265.36338538934115,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -691.7048797546385,
+            -262.76530917798783,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -693.2048797546385,
+            -260.1672329666345,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -694.7048797546385,
+            -257.5691567552812,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -696.2048797546385,
+            -254.97108054392788,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -697.7048797546385,
+            -252.37300433257457,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -699.2048797546385,
+            -249.77492812122125,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -700.7048797546385,
+            -247.17685190986793,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -702.2048797546385,
+            -244.57877569851462,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -703.7048797546385,
+            -241.9806994871613,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -705.2048797546385,
+            -239.382623275808,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -705.2048797546385,
+            -239.382623275808,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -707.8029559659917,
+            -237.882623275808,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -710.4010321773451,
+            -236.382623275808,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -744.0,
+            -184.0,
+            147.579
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_20-30-57_1184214677/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_20-30-57_1184214677/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2f275dfa81b72c30fad90ed520f2528d7688349c
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_20-30-57_1184214677/pose.jsonl
@@ -0,0 +1,353 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -707.0830819947276,
+            -50.4612200808842,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -708.5830819947276,
+            -53.05929629223752,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -710.0830819947276,
+            -55.657372503590835,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -711.5830819947276,
+            -58.25544871494415,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -713.0830819947276,
+            -60.85352492629747,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -714.5830819947276,
+            -63.45160113765078,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -716.0830819947276,
+            -66.0496773490041,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -717.5830819947276,
+            -68.64775356035742,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -719.0830819947276,
+            -71.24582977171073,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -720.5830819947276,
+            -73.84390598306405,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -722.0830819947276,
+            -76.44198219441736,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -723.5830819947276,
+            -79.04005840577068,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -725.0830819947276,
+            -81.638134617124,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -725.0830819947276,
+            -81.638134617124,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -725.0830819947276,
+            -84.638134617124,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -725.0830819947276,
+            -87.638134617124,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -725.0830819947276,
+            -90.638134617124,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -725.0830819947276,
+            -93.638134617124,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -725.0830819947276,
+            -96.638134617124,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -725.0830819947276,
+            -99.638134617124,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -725.0830819947276,
+            -102.638134617124,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -725.0830819947276,
+            -105.638134617124,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -725.0830819947276,
+            -108.638134617124,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -725.0830819947276,
+            -111.638134617124,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -725.0830819947276,
+            -114.638134617124,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -725.0830819947276,
+            -117.638134617124,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -744.0,
+            -184.0,
+            147.579
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_20-39-20_1707056552/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_20-39-20_1707056552/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..86d702fd108a124197d741cb87a27bb5c1943488
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_20-39-20_1707056552/pose.jsonl
@@ -0,0 +1,327 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -185.48550828176923,
+            646.6801505015906,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -182.48550828176923,
+            646.6801505015906,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -179.48550828176923,
+            646.6801505015906,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -176.48550828176923,
+            646.6801505015906,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -173.48550828176923,
+            646.6801505015906,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -170.48550828176923,
+            646.6801505015906,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -167.48550828176923,
+            646.6801505015906,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -164.48550828176923,
+            646.6801505015906,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -161.48550828176923,
+            646.6801505015906,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -158.48550828176923,
+            646.6801505015906,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -155.48550828176923,
+            646.6801505015906,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -155.48550828176923,
+            646.6801505015906,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -152.8874320704159,
+            645.1801505015906,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -150.2893558590626,
+            643.6801505015906,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -147.69127964770928,
+            642.1801505015906,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -145.09320343635596,
+            640.6801505015906,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -142.49512722500265,
+            639.1801505015906,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -139.89705101364933,
+            637.6801505015906,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -137.29897480229602,
+            636.1801505015906,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -134.7008985909427,
+            634.6801505015906,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -132.10282237958938,
+            633.1801505015906,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -129.50474616823607,
+            631.6801505015906,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -126.90666995688275,
+            630.1801505015906,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -124.30859374552944,
+            628.6801505015906,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -56.0,
+            608.0,
+            306.958
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_20-48-18_887077888/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_20-48-18_887077888/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ddc235e1063c0b61b089fdc0cee3bc37f3ec5bbd
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_20-48-18_887077888/pose.jsonl
@@ -0,0 +1,288 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -747.5823644113705,
+            -285.4234369555945,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -747.5823644113705,
+            -282.4234369555945,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -747.5823644113705,
+            -279.4234369555945,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -747.5823644113705,
+            -276.4234369555945,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -747.5823644113705,
+            -273.4234369555945,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -747.5823644113705,
+            -270.4234369555945,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -747.5823644113705,
+            -267.4234369555945,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -747.5823644113705,
+            -264.4234369555945,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -747.5823644113705,
+            -261.4234369555945,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -747.5823644113705,
+            -258.4234369555945,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -747.5823644113705,
+            -255.42343695559452,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -747.5823644113705,
+            -252.42343695559452,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -747.5823644113705,
+            -249.42343695559452,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -747.5823644113705,
+            -246.42343695559452,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -747.5823644113705,
+            -243.42343695559452,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -747.5823644113705,
+            -240.42343695559452,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -747.5823644113705,
+            -237.42343695559452,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -747.5823644113705,
+            -234.42343695559452,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -747.5823644113705,
+            -231.42343695559452,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -747.5823644113705,
+            -228.42343695559452,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -747.5823644113705,
+            -225.42343695559452,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -744.0,
+            -184.0,
+            147.579
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_20-57-11_1001089438/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_20-57-11_1001089438/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b24d68589b6880699894dc70011a22b81cdd8e2b
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_20-57-11_1001089438/pose.jsonl
@@ -0,0 +1,275 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -709.6201127633908,
+            -61.27015173534534,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -709.6201127633908,
+            -64.27015173534534,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -709.6201127633908,
+            -67.27015173534534,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -709.6201127633908,
+            -70.27015173534534,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -709.6201127633908,
+            -73.27015173534534,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -709.6201127633908,
+            -76.27015173534534,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -709.6201127633908,
+            -79.27015173534534,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -709.6201127633908,
+            -82.27015173534534,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -709.6201127633908,
+            -85.27015173534534,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -709.6201127633908,
+            -88.27015173534534,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -709.6201127633908,
+            -91.27015173534534,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -709.6201127633908,
+            -94.27015173534534,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -709.6201127633908,
+            -97.27015173534534,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -709.6201127633908,
+            -100.27015173534534,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -709.6201127633908,
+            -103.27015173534534,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -709.6201127633908,
+            -106.27015173534534,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -709.6201127633908,
+            -109.27015173534534,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -709.6201127633908,
+            -112.27015173534534,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -709.6201127633908,
+            -115.27015173534534,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -709.6201127633908,
+            -118.27015173534534,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -708.0,
+            -200.0,
+            147.68
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_20-7-55_655858699/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_20-7-55_655858699/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6504863372f7b8e30c3c40a3b47ecac0c021a57d
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_20-7-55_655858699/pose.jsonl
@@ -0,0 +1,522 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -657.9395196171714,
+            -106.26339102720337,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -656.4395196171714,
+            -108.86146723855668,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -654.9395196171714,
+            -111.45954344991,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -653.4395196171714,
+            -114.05761966126332,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -651.9395196171714,
+            -116.65569587261663,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -650.4395196171714,
+            -119.25377208396995,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -648.9395196171714,
+            -121.85184829532326,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -647.4395196171714,
+            -124.44992450667658,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -645.9395196171714,
+            -127.0480007180299,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -644.4395196171714,
+            -129.6460769293832,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -642.9395196171714,
+            -132.24415314073653,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -641.4395196171714,
+            -134.84222935208984,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -639.9395196171714,
+            -137.44030556344316,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -638.4395196171714,
+            -140.03838177479648,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -636.9395196171714,
+            -142.6364579861498,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -635.4395196171714,
+            -145.2345341975031,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -633.9395196171714,
+            -147.83261040885643,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -632.4395196171714,
+            -150.43068662020974,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -630.9395196171714,
+            -153.02876283156306,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -629.4395196171714,
+            -155.62683904291637,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -627.9395196171714,
+            -158.2249152542697,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -626.4395196171714,
+            -160.822991465623,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -624.9395196171714,
+            -163.42106767697632,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -623.4395196171714,
+            -166.01914388832964,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -621.9395196171714,
+            -168.61722009968295,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -620.4395196171714,
+            -171.21529631103627,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -618.9395196171714,
+            -173.81337252238959,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -617.4395196171714,
+            -176.4114487337429,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -615.9395196171714,
+            -179.00952494509622,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -614.4395196171714,
+            -181.60760115644953,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -612.9395196171714,
+            -184.20567736780285,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -611.4395196171714,
+            -186.80375357915617,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -609.9395196171714,
+            -189.40182979050948,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -609.9395196171714,
+            -189.40182979050948,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -609.9395196171714,
+            -192.40182979050948,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -609.9395196171714,
+            -195.40182979050948,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -609.9395196171714,
+            -198.40182979050948,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -609.9395196171714,
+            -201.40182979050948,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -609.9395196171714,
+            -204.40182979050948,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -604.0,
+            -216.0,
+            139.826
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_21-0-20_712633417/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_21-0-20_712633417/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..93add643a724503b9ce2106f5bcac3fc78adebcb
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_21-0-20_712633417/pose.jsonl
@@ -0,0 +1,67 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            52.11166433652494,
+            299.3860619149887,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            52.11166433652494,
+            302.3860619149887,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            52.11166433652494,
+            305.3860619149887,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            52.11166433652494,
+            308.3860619149887,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            36.0,
+            408.0,
+            143.294
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_21-10-11_2004187516/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_21-10-11_2004187516/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..39460898d3d67db9afa0948e4491b42c1da57093
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_21-10-11_2004187516/pose.jsonl
@@ -0,0 +1,418 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            88.83311036690058,
+            -359.6244513643539,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            90.33311036690058,
+            -362.2225275757072,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            91.83311036690058,
+            -364.8206037870605,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            93.33311036690058,
+            -367.41867999841384,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            94.83311036690058,
+            -370.01675620976715,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            96.33311036690058,
+            -372.61483242112047,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            97.83311036690058,
+            -375.2129086324738,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            99.33311036690058,
+            -377.8109848438271,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            100.83311036690058,
+            -380.4090610551804,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            102.33311036690058,
+            -383.00713726653373,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            103.83311036690058,
+            -385.60521347788705,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            105.33311036690058,
+            -388.20328968924036,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            106.83311036690058,
+            -390.8013659005937,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            108.33311036690058,
+            -393.399442111947,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            109.83311036690058,
+            -395.9975183233003,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            111.33311036690058,
+            -398.5955945346536,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            112.83311036690058,
+            -401.19367074600694,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            114.33311036690058,
+            -403.79174695736026,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            115.83311036690058,
+            -406.3898231687136,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            117.33311036690058,
+            -408.9878993800669,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            118.83311036690058,
+            -411.5859755914202,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            120.33311036690058,
+            -414.1840518027735,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            121.83311036690058,
+            -416.78212801412684,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            121.83311036690058,
+            -416.78212801412684,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            124.4311865782539,
+            -418.28212801412684,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            127.02926278960722,
+            -419.78212801412684,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            129.62733900096055,
+            -421.28212801412684,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982965
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            132.22541521231386,
+            -422.78212801412684,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            134.82349142366718,
+            -424.28212801412684,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            137.4215676350205,
+            -425.78212801412684,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            140.0196438463738,
+            -427.28212801412684,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            164.0,
+            -456.0,
+            137.23
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_21-18-16_435889744/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_21-18-16_435889744/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d2def6c4531885a5e03bc350442de14fa270698e
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_21-18-16_435889744/pose.jsonl
@@ -0,0 +1,119 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -633.6110674812074,
+            256.9451872062822,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -631.0129912698542,
+            255.44518720628218,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -628.4149150585008,
+            253.94518720628218,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -625.8168388471474,
+            252.44518720628218,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -623.2187626357941,
+            250.94518720628218,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -620.6206864244407,
+            249.44518720628218,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -618.0226102130873,
+            247.94518720628218,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -615.424534001734,
+            246.44518720628218,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -532.0,
+            200.0,
+            155.447
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_21-19-4_272020127/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_21-19-4_272020127/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..10cea06193141f9910540ded7fbb5142c5cd1e6a
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_21-19-4_272020127/pose.jsonl
@@ -0,0 +1,327 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            134.10058002696525,
+            384.87181064464374,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            131.50250381561193,
+            386.37181064464374,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            128.90442760425861,
+            387.87181064464374,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            126.3063513929053,
+            389.37181064464374,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            123.70827518155198,
+            390.87181064464374,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            121.11019897019867,
+            392.37181064464374,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            118.51212275884535,
+            393.87181064464374,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            115.91404654749203,
+            395.37181064464374,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            113.31597033613872,
+            396.87181064464374,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            110.7178941247854,
+            398.37181064464374,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            108.11981791343209,
+            399.87181064464374,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            105.52174170207877,
+            401.37181064464374,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            105.52174170207877,
+            401.37181064464374,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            102.52174170207877,
+            401.37181064464374,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            99.52174170207877,
+            401.37181064464374,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            96.52174170207877,
+            401.37181064464374,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            93.52174170207877,
+            401.37181064464374,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            90.52174170207877,
+            401.37181064464374,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            87.52174170207877,
+            401.37181064464374,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            84.52174170207877,
+            401.37181064464374,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            81.52174170207877,
+            401.37181064464374,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            78.52174170207877,
+            401.37181064464374,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            75.52174170207877,
+            401.37181064464374,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            72.52174170207877,
+            401.37181064464374,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            36.0,
+            408.0,
+            143.294
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_21-35-33_217871137/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_21-35-33_217871137/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..87b9fbf1b6c8de9f83ccdb96308d3aa35ee1ec1f
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_21-35-33_217871137/pose.jsonl
@@ -0,0 +1,496 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -799.4770791089255,
+            -60.73464974311021,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -796.4770791089255,
+            -60.73464974311021,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -793.4770791089255,
+            -60.73464974311021,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -790.4770791089255,
+            -60.73464974311021,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -787.4770791089255,
+            -60.73464974311021,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -784.4770791089255,
+            -60.73464974311021,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -784.4770791089255,
+            -60.73464974311021,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -784.4770791089255,
+            -60.73464974311021,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -782.9770791089255,
+            -63.33272595446353,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -781.4770791089255,
+            -65.93080216581684,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -779.9770791089255,
+            -68.52887837717016,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -778.4770791089255,
+            -71.12695458852347,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -776.9770791089255,
+            -73.72503079987679,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -775.4770791089255,
+            -76.3231070112301,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -773.9770791089255,
+            -78.92118322258342,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -772.4770791089255,
+            -81.51925943393674,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -770.9770791089255,
+            -84.11733564529005,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -769.4770791089255,
+            -86.71541185664337,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -767.9770791089255,
+            -89.31348806799669,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -766.4770791089255,
+            -91.91156427935,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -764.9770791089255,
+            -94.50964049070332,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -763.4770791089255,
+            -97.10771670205663,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -763.4770791089255,
+            -97.10771670205663,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -760.8790028975723,
+            -98.60771670205663,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -758.2809266862189,
+            -100.10771670205663,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -755.6828504748655,
+            -101.60771670205663,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -753.0847742635121,
+            -103.10771670205663,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -750.4866980521588,
+            -104.60771670205663,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -747.8886218408054,
+            -106.10771670205663,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -745.290545629452,
+            -107.60771670205663,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -742.6924694180987,
+            -109.10771670205663,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -740.0943932067453,
+            -110.60771670205663,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -737.4963169953919,
+            -112.10771670205663,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -734.8982407840385,
+            -113.60771670205663,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -732.3001645726852,
+            -115.10771670205663,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -729.7020883613318,
+            -116.60771670205663,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -727.1040121499784,
+            -118.10771670205663,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -708.0,
+            -136.0,
+            147.579
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_21-40-42_1988714904/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_21-40-42_1988714904/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..868c9c3b9dca41457c22a56df5335cdb30b1c1d8
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_21-40-42_1988714904/pose.jsonl
@@ -0,0 +1,210 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -647.5553146657712,
+            100.43766521070305,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -650.5553146657712,
+            100.43766521070305,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -653.5553146657712,
+            100.43766521070305,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -656.5553146657712,
+            100.43766521070305,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -659.5553146657712,
+            100.43766521070305,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -662.5553146657712,
+            100.43766521070305,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -665.5553146657712,
+            100.43766521070305,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -668.5553146657712,
+            100.43766521070305,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -671.5553146657712,
+            100.43766521070305,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -671.5553146657712,
+            100.43766521070305,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -671.5553146657712,
+            100.43766521070305,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 4.1887902047863905
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -673.0553146657712,
+            97.83958899934973,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -674.5553146657712,
+            95.24151278799641,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -674.5553146657712,
+            95.24151278799641,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -677.1533908771246,
+            93.74151278799641,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -792.0,
+            64.0,
+            157.028
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_21-42-48_1155722604/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_21-42-48_1155722604/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fbd5ecbde8a50733648bb02ca4cc4f030366d3b8
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_21-42-48_1155722604/pose.jsonl
@@ -0,0 +1,405 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            110.61580527439672,
+            748.0063034137963,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            109.11580527439672,
+            745.408227202443,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            107.61580527439672,
+            742.8101509910896,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            106.11580527439672,
+            740.2120747797362,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            104.61580527439672,
+            737.6139985683828,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            103.11580527439672,
+            735.0159223570295,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            101.61580527439672,
+            732.4178461456761,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            100.11580527439672,
+            729.8197699343227,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            98.61580527439672,
+            727.2216937229693,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            97.11580527439672,
+            724.623617511616,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            95.61580527439672,
+            722.0255413002626,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            94.11580527439672,
+            719.4274650889092,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            92.61580527439672,
+            716.8293888775559,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            91.11580527439672,
+            714.2313126662025,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            89.61580527439672,
+            711.6332364548491,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            88.11580527439672,
+            709.0351602434957,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            86.61580527439672,
+            706.4370840321424,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            85.11580527439672,
+            703.839007820789,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            83.61580527439672,
+            701.2409316094356,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            82.11580527439672,
+            698.6428553980822,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            80.61580527439672,
+            696.0447791867289,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            79.11580527439672,
+            693.4467029753755,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            79.11580527439672,
+            693.4467029753755,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            79.11580527439672,
+            690.4467029753755,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            79.11580527439672,
+            687.4467029753755,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            79.11580527439672,
+            684.4467029753755,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            79.11580527439672,
+            681.4467029753755,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            79.11580527439672,
+            678.4467029753755,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            79.11580527439672,
+            675.4467029753755,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            79.11580527439672,
+            672.4467029753755,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            52.0,
+            616.0,
+            138.276
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_21-43-22_2000419805/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_21-43-22_2000419805/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..832590d1d0b73332e8ae529000c48b4a79c2dbd2
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_21-43-22_2000419805/pose.jsonl
@@ -0,0 +1,561 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            994.0836366037256,
+            -1316.420156660498,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            994.0836366037256,
+            -1319.420156660498,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            994.0836366037256,
+            -1322.420156660498,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            994.0836366037256,
+            -1325.420156660498,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            994.0836366037256,
+            -1328.420156660498,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            994.0836366037256,
+            -1331.420156660498,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            994.0836366037256,
+            -1334.420156660498,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            994.0836366037256,
+            -1337.420156660498,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            994.0836366037256,
+            -1340.420156660498,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            994.0836366037256,
+            -1343.420156660498,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            994.0836366037256,
+            -1346.420156660498,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            994.0836366037256,
+            -1349.420156660498,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            994.0836366037256,
+            -1352.420156660498,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            994.0836366037256,
+            -1355.420156660498,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            994.0836366037256,
+            -1358.420156660498,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            994.0836366037256,
+            -1361.420156660498,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            994.0836366037256,
+            -1364.420156660498,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            994.0836366037256,
+            -1367.420156660498,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            994.0836366037256,
+            -1370.420156660498,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            994.0836366037256,
+            -1373.420156660498,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            994.0836366037256,
+            -1376.420156660498,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            994.0836366037256,
+            -1379.420156660498,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            994.0836366037256,
+            -1382.420156660498,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            994.0836366037256,
+            -1385.420156660498,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            994.0836366037256,
+            -1385.420156660498,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            992.5836366037256,
+            -1388.0182328718513,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            991.0836366037256,
+            -1390.6163090832047,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            989.5836366037256,
+            -1393.214385294558,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            988.0836366037256,
+            -1395.8124615059114,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            986.5836366037256,
+            -1398.4105377172648,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            985.0836366037256,
+            -1401.0086139286182,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            983.5836366037256,
+            -1403.6066901399715,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            982.0836366037256,
+            -1406.204766351325,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            980.5836366037256,
+            -1408.8028425626783,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            979.0836366037256,
+            -1411.4009187740317,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            977.5836366037256,
+            -1413.998994985385,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            976.0836366037256,
+            -1416.5970711967384,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            974.5836366037256,
+            -1419.1951474080918,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            973.0836366037256,
+            -1421.7932236194451,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            971.5836366037256,
+            -1424.3912998307985,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            970.0836366037256,
+            -1426.989376042152,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            968.5836366037256,
+            -1429.5874522535053,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            960.0,
+            -1456.0,
+            192.957
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_21-46-39_1122336503/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_21-46-39_1122336503/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2f366733cb658be9ee7f72a8a8a5ebdacdd7d95c
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_21-46-39_1122336503/pose.jsonl
@@ -0,0 +1,431 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1526.399893016488,
+            -302.11689455259915,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1524.899893016488,
+            -304.71497076395246,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1523.399893016488,
+            -307.3130469753058,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1521.899893016488,
+            -309.9111231866591,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1520.399893016488,
+            -312.5091993980124,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1518.899893016488,
+            -315.10727560936573,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1517.399893016488,
+            -317.70535182071905,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1515.899893016488,
+            -320.30342803207236,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1514.399893016488,
+            -322.9015042434257,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1512.899893016488,
+            -325.499580454779,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1511.399893016488,
+            -328.0976566661323,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1509.899893016488,
+            -330.6957328774856,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1508.399893016488,
+            -333.29380908883894,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1506.899893016488,
+            -335.89188530019226,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1505.399893016488,
+            -338.4899615115456,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1503.899893016488,
+            -341.0880377228989,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1502.399893016488,
+            -343.6861139342522,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1500.899893016488,
+            -346.2841901456055,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1499.399893016488,
+            -348.88226635695884,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1497.899893016488,
+            -351.48034256831215,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1497.899893016488,
+            -351.48034256831215,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1495.3018168051346,
+            -352.98034256831215,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1492.7037405937813,
+            -354.48034256831215,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1490.105664382428,
+            -355.98034256831215,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1487.5075881710745,
+            -357.48034256831215,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1484.9095119597212,
+            -358.98034256831215,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1482.3114357483678,
+            -360.48034256831215,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1479.7133595370144,
+            -361.98034256831215,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1477.115283325661,
+            -363.48034256831215,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1477.115283325661,
+            -363.48034256831215,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1475.615283325661,
+            -366.07841877966547,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1474.115283325661,
+            -368.6764949910188,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1452.0,
+            -396.0,
+            151.137
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_21-49-57_1630387677/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_21-49-57_1630387677/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ac8de82a64216938e1ec0802aa3d104d2b4cd900
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_21-49-57_1630387677/pose.jsonl
@@ -0,0 +1,340 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -686.536574658896,
+            814.0350038622736,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -683.536574658896,
+            814.0350038622736,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -680.536574658896,
+            814.0350038622736,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -677.536574658896,
+            814.0350038622736,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -674.536574658896,
+            814.0350038622736,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -671.536574658896,
+            814.0350038622736,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -668.536574658896,
+            814.0350038622736,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -665.536574658896,
+            814.0350038622736,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -662.536574658896,
+            814.0350038622736,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -662.536574658896,
+            814.0350038622736,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -659.9384984475428,
+            812.5350038622736,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -657.3404222361894,
+            811.0350038622736,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -654.742346024836,
+            809.5350038622736,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -652.1442698134827,
+            808.0350038622736,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -649.5461936021293,
+            806.5350038622736,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -646.9481173907759,
+            805.0350038622736,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -644.3500411794225,
+            803.5350038622736,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -641.7519649680692,
+            802.0350038622736,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -639.1538887567158,
+            800.5350038622736,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -636.5558125453624,
+            799.0350038622736,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -633.957736334009,
+            797.5350038622736,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -631.3596601226557,
+            796.0350038622736,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -628.7615839113023,
+            794.5350038622736,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -626.1635076999489,
+            793.0350038622736,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -623.5654314885956,
+            791.5350038622736,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -564.0,
+            772.0,
+            147.72
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_21-56-30_2059344234/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_21-56-30_2059344234/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..83603592ccffb0f9ee9f3b4ccc921a2827861db1
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_21-56-30_2059344234/pose.jsonl
@@ -0,0 +1,366 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -902.5538126765691,
+            70.73196671270794,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -899.5538126765691,
+            70.73196671270794,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -896.5538126765691,
+            70.73196671270794,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -893.5538126765691,
+            70.73196671270794,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -890.5538126765691,
+            70.73196671270794,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -887.5538126765691,
+            70.73196671270794,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -884.5538126765691,
+            70.73196671270794,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -881.5538126765691,
+            70.73196671270794,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -878.5538126765691,
+            70.73196671270794,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -875.5538126765691,
+            70.73196671270794,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -872.5538126765691,
+            70.73196671270794,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -869.5538126765691,
+            70.73196671270794,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -866.5538126765691,
+            70.73196671270794,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -863.5538126765691,
+            70.73196671270794,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -860.5538126765691,
+            70.73196671270794,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -857.5538126765691,
+            70.73196671270794,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -854.5538126765691,
+            70.73196671270794,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -851.5538126765691,
+            70.73196671270794,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -848.5538126765691,
+            70.73196671270794,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -845.5538126765691,
+            70.73196671270794,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -842.5538126765691,
+            70.73196671270794,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -839.5538126765691,
+            70.73196671270794,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -836.5538126765691,
+            70.73196671270794,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -833.5538126765691,
+            70.73196671270794,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -833.5538126765691,
+            70.73196671270794,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -830.9557364652158,
+            69.23196671270794,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -828.3576602538624,
+            67.73196671270794,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -792.0,
+            64.0,
+            157.028
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_21-57-15_772970072/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_21-57-15_772970072/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..adeeb1eeb18095be05b622a75be775446426ac42
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_21-57-15_772970072/pose.jsonl
@@ -0,0 +1,444 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1372.3819496323906,
+            379.5331459966464,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1369.7838734210372,
+            381.0331459966464,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1367.1857972096839,
+            382.5331459966464,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1364.5877209983305,
+            384.0331459966464,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1361.9896447869771,
+            385.5331459966464,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1359.3915685756238,
+            387.0331459966464,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1356.7934923642704,
+            388.5331459966464,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1354.195416152917,
+            390.0331459966464,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1351.5973399415636,
+            391.5331459966464,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1348.9992637302103,
+            393.0331459966464,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1346.401187518857,
+            394.5331459966464,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1343.8031113075035,
+            396.0331459966464,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1341.2050350961501,
+            397.5331459966464,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1338.6069588847968,
+            399.0331459966464,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1336.0088826734434,
+            400.5331459966464,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1333.41080646209,
+            402.0331459966464,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1330.8127302507366,
+            403.5331459966464,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1330.8127302507366,
+            403.5331459966464,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1329.3127302507366,
+            406.1312222079997,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1327.8127302507366,
+            408.72929841935303,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1326.3127302507366,
+            411.32737463070634,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1324.8127302507366,
+            413.92545084205966,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1323.3127302507366,
+            416.523527053413,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1321.8127302507366,
+            419.1216032647663,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1320.3127302507366,
+            421.7196794761196,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1318.8127302507366,
+            424.3177556874729,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1317.3127302507366,
+            426.91583189882624,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1315.8127302507366,
+            429.51390811017956,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1314.3127302507366,
+            432.1119843215329,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1312.8127302507366,
+            434.7100605328862,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1311.3127302507366,
+            437.3081367442395,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1309.8127302507366,
+            439.9062129555928,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1308.3127302507366,
+            442.50428916694614,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1288.0,
+            460.0,
+            146.581
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_22-11-40_1633938701/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_22-11-40_1633938701/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0fe34d06f1d6a759862785d7ad1c999ce290f1fb
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_22-11-40_1633938701/pose.jsonl
@@ -0,0 +1,405 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1555.662520453363,
+            -330.6799020822566,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1552.662520453363,
+            -330.6799020822566,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1549.662520453363,
+            -330.6799020822566,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1546.662520453363,
+            -330.6799020822566,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1543.662520453363,
+            -330.6799020822566,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1540.662520453363,
+            -330.6799020822566,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1537.662520453363,
+            -330.6799020822566,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1534.662520453363,
+            -330.6799020822566,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1531.662520453363,
+            -330.6799020822566,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1528.662520453363,
+            -330.6799020822566,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1525.662520453363,
+            -330.6799020822566,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1522.662520453363,
+            -330.6799020822566,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1519.662520453363,
+            -330.6799020822566,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1516.662520453363,
+            -330.6799020822566,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1513.662520453363,
+            -330.6799020822566,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1510.662520453363,
+            -330.6799020822566,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1507.662520453363,
+            -330.6799020822566,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1504.662520453363,
+            -330.6799020822566,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1501.662520453363,
+            -330.6799020822566,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1498.662520453363,
+            -330.6799020822566,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1495.662520453363,
+            -330.6799020822566,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1492.662520453363,
+            -330.6799020822566,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1489.662520453363,
+            -330.6799020822566,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1486.662520453363,
+            -330.6799020822566,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1483.662520453363,
+            -330.6799020822566,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1480.662520453363,
+            -330.6799020822566,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1477.662520453363,
+            -330.6799020822566,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1477.662520453363,
+            -330.6799020822566,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1475.0644442420096,
+            -332.1799020822566,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1472.4663680306562,
+            -333.6799020822566,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1452.0,
+            -336.0,
+            120.709
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_22-13-24_1487053959/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_22-13-24_1487053959/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..001bda49ff5ad7c3c8e873a105172328306046b8
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_22-13-24_1487053959/pose.jsonl
@@ -0,0 +1,470 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -654.5984175156646,
+            13.47322531705565,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -653.0984175156646,
+            16.071301528408966,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -651.5984175156646,
+            18.669377739762282,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -650.0984175156646,
+            21.2674539511156,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -648.5984175156646,
+            23.865530162468914,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -647.0984175156646,
+            26.46360637382223,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -645.5984175156646,
+            29.061682585175546,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -644.0984175156646,
+            31.659758796528862,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -642.5984175156646,
+            34.25783500788218,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -641.0984175156646,
+            36.855911219235495,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -639.5984175156646,
+            39.45398743058881,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -638.0984175156646,
+            42.05206364194213,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -636.5984175156646,
+            44.65013985329544,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -635.0984175156646,
+            47.24821606464876,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -633.5984175156646,
+            49.846292276002075,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -632.0984175156646,
+            52.44436848735539,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -630.5984175156646,
+            55.04244469870871,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -629.0984175156646,
+            57.64052091006202,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -627.5984175156646,
+            60.23859712141534,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -626.0984175156646,
+            62.836673332768655,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -624.5984175156646,
+            65.43474954412197,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -623.0984175156646,
+            68.03282575547529,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -621.5984175156646,
+            70.6309019668286,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -620.0984175156646,
+            73.22897817818192,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -618.5984175156646,
+            75.82705438953523,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -617.0984175156646,
+            78.42513060088855,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -615.5984175156646,
+            81.02320681224187,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -614.0984175156646,
+            83.62128302359518,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -612.5984175156646,
+            86.2193592349485,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -611.0984175156646,
+            88.81743544630181,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -609.5984175156646,
+            91.41551165765513,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -608.0984175156646,
+            94.01358786900845,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -608.0984175156646,
+            94.01358786900845,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -605.5003413043112,
+            95.51358786900845,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -602.9022650929578,
+            97.01358786900845,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -596.0,
+            108.0,
+            130.693
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_22-2-0_181271232/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_22-2-0_181271232/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..596653be54f0b87cecb88f52d1569004b4aea51b
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_22-2-0_181271232/pose.jsonl
@@ -0,0 +1,418 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -438.07879859380637,
+            874.1063257748273,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -436.57879859380637,
+            871.508249563474,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -435.07879859380637,
+            868.9101733521206,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -433.57879859380637,
+            866.3120971407673,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -432.07879859380637,
+            863.7140209294139,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -430.57879859380637,
+            861.1159447180605,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -429.07879859380637,
+            858.5178685067071,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -427.57879859380637,
+            855.9197922953538,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -426.07879859380637,
+            853.3217160840004,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -424.57879859380637,
+            850.723639872647,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -423.07879859380637,
+            848.1255636612937,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -421.57879859380637,
+            845.5274874499403,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -420.07879859380637,
+            842.9294112385869,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -418.57879859380637,
+            840.3313350272335,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -417.07879859380637,
+            837.7332588158802,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -415.57879859380637,
+            835.1351826045268,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -414.07879859380637,
+            832.5371063931734,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -412.57879859380637,
+            829.93903018182,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -411.07879859380637,
+            827.3409539704667,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -411.07879859380637,
+            827.3409539704667,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -411.07879859380637,
+            824.3409539704667,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -411.07879859380637,
+            821.3409539704667,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -411.07879859380637,
+            818.3409539704667,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -411.07879859380637,
+            815.3409539704667,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -411.07879859380637,
+            812.3409539704667,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -411.07879859380637,
+            809.3409539704667,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -411.07879859380637,
+            806.3409539704667,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -411.07879859380637,
+            803.3409539704667,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -411.07879859380637,
+            800.3409539704667,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -411.07879859380637,
+            797.3409539704667,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -411.07879859380637,
+            794.3409539704667,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -388.0,
+            736.0,
+            158.404
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_22-21-55_661955081/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_22-21-55_661955081/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..482e5dd02aac71e788f0ff3fd5e66cb6493b765a
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_22-21-55_661955081/pose.jsonl
@@ -0,0 +1,535 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1200.0380559222763,
+            563.8720924253446,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1202.6361321336296,
+            562.3720924253446,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1205.234208344983,
+            560.8720924253446,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1207.8322845563364,
+            559.3720924253446,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1210.4303607676898,
+            557.8720924253446,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1213.0284369790431,
+            556.3720924253446,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1215.6265131903965,
+            554.8720924253446,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1218.2245894017499,
+            553.3720924253446,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1220.8226656131033,
+            551.8720924253446,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1223.4207418244566,
+            550.3720924253446,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1226.01881803581,
+            548.8720924253446,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1228.6168942471634,
+            547.3720924253446,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1231.2149704585167,
+            545.8720924253446,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1233.8130466698701,
+            544.3720924253446,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1236.4111228812235,
+            542.8720924253446,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1239.0091990925769,
+            541.3720924253446,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1241.6072753039302,
+            539.8720924253446,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1244.2053515152836,
+            538.3720924253446,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1246.803427726637,
+            536.8720924253446,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1249.4015039379904,
+            535.3720924253446,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1251.9995801493437,
+            533.8720924253446,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1254.597656360697,
+            532.3720924253446,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1257.1957325720505,
+            530.8720924253446,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1259.7938087834038,
+            529.3720924253446,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1262.3918849947572,
+            527.8720924253446,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1264.9899612061106,
+            526.3720924253446,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1267.588037417464,
+            524.8720924253446,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1270.1861136288173,
+            523.3720924253446,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1272.7841898401707,
+            521.8720924253446,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1272.7841898401707,
+            521.8720924253446,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1275.7841898401707,
+            521.8720924253446,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1278.7841898401707,
+            521.8720924253446,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1281.7841898401707,
+            521.8720924253446,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1284.7841898401707,
+            521.8720924253446,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1287.7841898401707,
+            521.8720924253446,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1290.7841898401707,
+            521.8720924253446,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1293.7841898401707,
+            521.8720924253446,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1296.7841898401707,
+            521.8720924253446,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1299.7841898401707,
+            521.8720924253446,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1302.7841898401707,
+            521.8720924253446,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1336.0,
+            508.0,
+            177.171
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_22-28-44_1503967857/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_22-28-44_1503967857/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..109cb0ca76b03f7b3129d5a0b17cd761e4a5d3b1
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_22-28-44_1503967857/pose.jsonl
@@ -0,0 +1,444 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -631.6910861729133,
+            -317.63834361204647,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -633.1910861729133,
+            -315.04026740069315,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -634.6910861729133,
+            -312.44219118933984,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -636.1910861729133,
+            -309.8441149779865,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -637.6910861729133,
+            -307.2460387666332,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -639.1910861729133,
+            -304.6479625552799,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -640.6910861729133,
+            -302.0498863439266,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -642.1910861729133,
+            -299.45181013257326,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -643.6910861729133,
+            -296.85373392121994,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -645.1910861729133,
+            -294.2556577098666,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -646.6910861729133,
+            -291.6575814985133,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -648.1910861729133,
+            -289.05950528716,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -649.6910861729133,
+            -286.4614290758067,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -651.1910861729133,
+            -283.86335286445336,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -652.6910861729133,
+            -281.26527665310005,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -654.1910861729133,
+            -278.66720044174673,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -655.6910861729133,
+            -276.0691242303934,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -657.1910861729133,
+            -273.4710480190401,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -658.6910861729133,
+            -270.8729718076868,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -660.1910861729133,
+            -268.27489559633347,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -661.6910861729133,
+            -265.67681938498015,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -663.1910861729133,
+            -263.07874317362683,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -664.6910861729133,
+            -260.4806669622735,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -666.1910861729133,
+            -257.8825907509202,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -667.6910861729133,
+            -255.28451453956689,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -669.1910861729133,
+            -252.68643832821357,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -670.6910861729133,
+            -250.08836211686025,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -672.1910861729133,
+            -247.49028590550694,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -673.6910861729133,
+            -244.89220969415362,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -675.1910861729133,
+            -242.2941334828003,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -675.1910861729133,
+            -242.2941334828003,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -677.7891623842665,
+            -240.7941334828003,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -680.3872385956199,
+            -239.2941334828003,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -708.0,
+            -200.0,
+            147.68
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_22-32-4_209359415/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_22-32-4_209359415/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9893f4b5dbe2c5b4fbc99691d39ba2d66565dade
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_22-32-4_209359415/pose.jsonl
@@ -0,0 +1,431 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1104.1908596135063,
+            781.7450718802904,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1101.1908596135063,
+            781.7450718802904,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1098.1908596135063,
+            781.7450718802904,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1095.1908596135063,
+            781.7450718802904,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1092.1908596135063,
+            781.7450718802904,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1089.1908596135063,
+            781.7450718802904,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1086.1908596135063,
+            781.7450718802904,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1083.1908596135063,
+            781.7450718802904,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1080.1908596135063,
+            781.7450718802904,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1077.1908596135063,
+            781.7450718802904,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1077.1908596135063,
+            781.7450718802904,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1077.1908596135063,
+            781.7450718802904,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1075.6908596135063,
+            779.146995668937,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1074.1908596135063,
+            776.5489194575837,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1072.6908596135063,
+            773.9508432462303,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1071.1908596135063,
+            771.3527670348769,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1069.6908596135063,
+            768.7546908235236,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1068.1908596135063,
+            766.1566146121702,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1066.6908596135063,
+            763.5585384008168,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1066.6908596135063,
+            763.5585384008168,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1064.092783402153,
+            762.0585384008168,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1061.4947071907995,
+            760.5585384008168,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1058.8966309794462,
+            759.0585384008168,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1056.2985547680928,
+            757.5585384008168,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1053.7004785567394,
+            756.0585384008168,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1051.102402345386,
+            754.5585384008168,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1048.5043261340327,
+            753.0585384008168,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1045.9062499226793,
+            751.5585384008168,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1043.308173711326,
+            750.0585384008168,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1040.7100974999726,
+            748.5585384008168,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1038.1120212886192,
+            747.0585384008168,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1035.5139450772658,
+            745.5585384008168,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1004.0,
+            732.0,
+            143.403
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_22-36-0_1442767057/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_22-36-0_1442767057/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8ebdb911a5a5547cc01228c62a2e20afe07f04c5
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_22-36-0_1442767057/pose.jsonl
@@ -0,0 +1,405 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -669.0457297961408,
+            92.09617483111148,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -667.5457297961408,
+            89.49809861975817,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -666.0457297961408,
+            86.90002240840485,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -664.5457297961408,
+            84.30194619705154,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -663.0457297961408,
+            81.70386998569822,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -661.5457297961408,
+            79.1057937743449,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -660.0457297961408,
+            76.50771756299159,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -658.5457297961408,
+            73.90964135163827,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -657.0457297961408,
+            71.31156514028496,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -655.5457297961408,
+            68.71348892893164,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -654.0457297961408,
+            66.11541271757832,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -652.5457297961408,
+            63.51733650622501,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -651.0457297961408,
+            60.91926029487169,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -649.5457297961408,
+            58.321184083518375,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -649.5457297961408,
+            58.321184083518375,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -646.9476535847875,
+            56.821184083518375,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -644.3495773734342,
+            55.321184083518375,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -641.7515011620808,
+            53.821184083518375,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -639.1534249507274,
+            52.321184083518375,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -636.555348739374,
+            50.821184083518375,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -633.9572725280207,
+            49.321184083518375,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -631.3591963166673,
+            47.821184083518375,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -628.7611201053139,
+            46.321184083518375,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -626.1630438939605,
+            44.821184083518375,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -623.5649676826072,
+            43.321184083518375,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -620.9668914712538,
+            41.821184083518375,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -618.3688152599004,
+            40.321184083518375,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -615.7707390485471,
+            38.821184083518375,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -613.1726628371937,
+            37.321184083518375,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -610.5745866258403,
+            35.821184083518375,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -568.0,
+            -4.0,
+            139.561
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_22-39-42_1431742587/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_22-39-42_1431742587/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..121ec85a796f3ff34a66eb57ecddf713b55b2b0e
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_22-39-42_1431742587/pose.jsonl
@@ -0,0 +1,392 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1303.7870803260384,
+            605.453005934909,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1305.2870803260384,
+            602.8549297235556,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1306.7870803260384,
+            600.2568535122023,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1308.2870803260384,
+            597.6587773008489,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1309.7870803260384,
+            595.0607010894955,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1311.2870803260384,
+            592.4626248781422,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1312.7870803260384,
+            589.8645486667888,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1314.2870803260384,
+            587.2664724554354,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1315.7870803260384,
+            584.668396244082,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1317.2870803260384,
+            582.0703200327287,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1318.7870803260384,
+            579.4722438213753,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1320.2870803260384,
+            576.8741676100219,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1321.7870803260384,
+            574.2760913986685,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1323.2870803260384,
+            571.6780151873152,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1324.7870803260384,
+            569.0799389759618,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1326.2870803260384,
+            566.4818627646084,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1327.7870803260384,
+            563.883786553255,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1329.2870803260384,
+            561.2857103419017,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1329.2870803260384,
+            561.2857103419017,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1329.2870803260384,
+            558.2857103419017,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1329.2870803260384,
+            555.2857103419017,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1329.2870803260384,
+            552.2857103419017,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1329.2870803260384,
+            549.2857103419017,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1329.2870803260384,
+            546.2857103419017,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1329.2870803260384,
+            543.2857103419017,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1329.2870803260384,
+            540.2857103419017,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1329.2870803260384,
+            537.2857103419017,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1329.2870803260384,
+            534.2857103419017,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1329.2870803260384,
+            531.2857103419017,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1336.0,
+            508.0,
+            177.171
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_22-40-30_1907895021/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_22-40-30_1907895021/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c4e8bd91d24f86bcf7f641e2ea237297ee4eb347
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_22-40-30_1907895021/pose.jsonl
@@ -0,0 +1,431 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            8.824575836243085,
+            -129.97236798746277,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            6.226499624889769,
+            -128.47236798746277,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            3.628423413536453,
+            -126.97236798746277,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1.0303472021831368,
+            -125.47236798746277,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1.5677290091701792,
+            -123.97236798746277,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -4.165805220523495,
+            -122.47236798746277,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -6.763881431876811,
+            -120.97236798746277,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -9.361957643230127,
+            -119.47236798746277,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -11.960033854583443,
+            -117.97236798746277,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -14.55811006593676,
+            -116.47236798746277,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -17.156186277290075,
+            -114.97236798746277,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -19.75426248864339,
+            -113.47236798746277,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -22.352338699996707,
+            -111.97236798746277,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -24.950414911350023,
+            -110.47236798746277,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -27.54849112270334,
+            -108.97236798746277,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -30.146567334056655,
+            -107.47236798746277,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -32.74464354540997,
+            -105.97236798746277,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -32.74464354540997,
+            -105.97236798746277,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -35.74464354540997,
+            -105.97236798746277,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -38.74464354540997,
+            -105.97236798746277,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -41.74464354540997,
+            -105.97236798746277,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -44.74464354540997,
+            -105.97236798746277,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -47.74464354540997,
+            -105.97236798746277,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -50.74464354540997,
+            -105.97236798746277,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -53.74464354540997,
+            -105.97236798746277,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -56.74464354540997,
+            -105.97236798746277,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -59.74464354540997,
+            -105.97236798746277,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -62.74464354540997,
+            -105.97236798746277,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -65.74464354540997,
+            -105.97236798746277,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -68.74464354540997,
+            -105.97236798746277,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -71.74464354540997,
+            -105.97236798746277,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -74.74464354540997,
+            -105.97236798746277,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -104.0,
+            -96.0,
+            248.592
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_22-53-1_370917955/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_22-53-1_370917955/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..452ead5382aca1439143a8feb8134d3178e7675f
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_22-53-1_370917955/pose.jsonl
@@ -0,0 +1,457 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            798.3251686079752,
+            -488.82794617984143,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            801.3251686079752,
+            -488.82794617984143,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            804.3251686079752,
+            -488.82794617984143,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            807.3251686079752,
+            -488.82794617984143,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            810.3251686079752,
+            -488.82794617984143,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            810.3251686079752,
+            -488.82794617984143,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            812.9232448193286,
+            -487.32794617984143,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            815.521321030682,
+            -485.82794617984143,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            818.1193972420353,
+            -484.32794617984143,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            820.7174734533887,
+            -482.82794617984143,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            823.3155496647421,
+            -481.32794617984143,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            825.9136258760955,
+            -479.82794617984143,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            828.5117020874488,
+            -478.32794617984143,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            831.1097782988022,
+            -476.82794617984143,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            833.7078545101556,
+            -475.32794617984143,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            836.305930721509,
+            -473.82794617984143,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            838.9040069328623,
+            -472.32794617984143,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            841.5020831442157,
+            -470.82794617984143,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            844.1001593555691,
+            -469.32794617984143,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            846.6982355669224,
+            -467.82794617984143,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            849.2963117782758,
+            -466.32794617984143,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            851.8943879896292,
+            -464.82794617984143,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            854.4924642009826,
+            -463.32794617984143,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            857.0905404123359,
+            -461.82794617984143,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            859.6886166236893,
+            -460.32794617984143,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            862.2866928350427,
+            -458.82794617984143,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            864.8847690463961,
+            -457.32794617984143,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            867.4828452577494,
+            -455.82794617984143,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            870.0809214691028,
+            -454.32794617984143,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            872.6789976804562,
+            -452.82794617984143,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            872.6789976804562,
+            -452.82794617984143,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -9.43689570931383e-15
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            875.6789976804562,
+            -452.82794617984143,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            878.6789976804562,
+            -452.82794617984143,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            881.6789976804562,
+            -452.82794617984143,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            900.0,
+            -444.0,
+            149.898
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_22-53-23_384370888/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_22-53-23_384370888/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0d855e65d597e72261958bc7994ec7e47c01bd97
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_22-53-23_384370888/pose.jsonl
@@ -0,0 +1,522 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            150.20066203656086,
+            -150.4491735071366,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            148.70066203656086,
+            -147.8510972957833,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            147.20066203656086,
+            -145.25302108442997,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            145.70066203656086,
+            -142.65494487307666,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            144.20066203656086,
+            -140.05686866172334,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            142.70066203656086,
+            -137.45879245037003,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            141.20066203656086,
+            -134.8607162390167,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            139.70066203656086,
+            -132.2626400276634,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            138.20066203656086,
+            -129.66456381631008,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            136.70066203656086,
+            -127.06648760495676,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            135.20066203656086,
+            -124.46841139360345,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            133.70066203656086,
+            -121.87033518225013,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            132.20066203656086,
+            -119.27225897089681,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            130.70066203656086,
+            -116.6741827595435,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            129.20066203656086,
+            -114.07610654819018,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            127.70066203656086,
+            -111.47803033683687,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            126.20066203656086,
+            -108.87995412548355,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            124.70066203656086,
+            -106.28187791413023,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            123.20066203656086,
+            -103.68380170277692,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            121.70066203656086,
+            -101.0857254914236,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            120.20066203656086,
+            -98.48764928007029,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            118.70066203656086,
+            -95.88957306871697,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            117.20066203656086,
+            -93.29149685736365,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            115.70066203656086,
+            -90.69342064601034,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            114.20066203656086,
+            -88.09534443465702,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            112.70066203656086,
+            -85.4972682233037,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            111.20066203656086,
+            -82.89919201195039,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            109.70066203656086,
+            -80.30111580059707,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            108.20066203656086,
+            -77.70303958924376,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            106.70066203656086,
+            -75.10496337789044,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            105.20066203656086,
+            -72.50688716653713,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            103.70066203656086,
+            -69.90881095518381,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            102.20066203656086,
+            -67.3107347438305,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            100.70066203656086,
+            -64.71265853247718,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            100.70066203656086,
+            -64.71265853247718,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            98.10258582520754,
+            -63.21265853247718,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            95.50450961385422,
+            -61.71265853247718,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            92.90643340250091,
+            -60.21265853247718,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            90.30835719114759,
+            -58.71265853247718,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            72.0,
+            -36.0,
+            146.253
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_22-7-45_1691449122/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_22-7-45_1691449122/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f550434aa8fe798c8d0e30a17564d2a392f1bc25
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_22-7-45_1691449122/pose.jsonl
@@ -0,0 +1,470 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -219.54274390007572,
+            -18.04946535030723,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -216.9446676887224,
+            -19.54946535030723,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -214.3465914773691,
+            -21.04946535030723,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -211.74851526601577,
+            -22.54946535030723,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -209.15043905466246,
+            -24.04946535030723,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -206.55236284330914,
+            -25.54946535030723,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -203.95428663195582,
+            -27.04946535030723,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -201.3562104206025,
+            -28.54946535030723,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -198.7581342092492,
+            -30.04946535030723,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -196.16005799789588,
+            -31.54946535030723,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -193.56198178654256,
+            -33.04946535030723,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -190.96390557518924,
+            -34.54946535030723,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -188.36582936383593,
+            -36.04946535030723,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -185.7677531524826,
+            -37.54946535030723,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -183.1696769411293,
+            -39.04946535030723,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -180.57160072977598,
+            -40.54946535030723,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -177.97352451842266,
+            -42.04946535030723,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -175.37544830706935,
+            -43.54946535030723,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -172.77737209571603,
+            -45.04946535030723,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -170.17929588436272,
+            -46.54946535030723,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -167.5812196730094,
+            -48.04946535030723,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -164.98314346165608,
+            -49.54946535030723,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -162.38506725030277,
+            -51.04946535030723,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -159.78699103894945,
+            -52.54946535030723,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -157.18891482759614,
+            -54.04946535030723,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -154.59083861624282,
+            -55.54946535030723,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -151.9927624048895,
+            -57.04946535030723,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -149.3946861935362,
+            -58.54946535030723,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -146.79660998218287,
+            -60.04946535030723,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -144.19853377082956,
+            -61.54946535030723,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -141.60045755947624,
+            -63.04946535030723,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -141.60045755947624,
+            -63.04946535030723,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -140.10045755947624,
+            -65.64754156166055,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -138.60045755947624,
+            -68.24561777301386,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -137.10045755947624,
+            -70.84369398436718,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -104.0,
+            -96.0,
+            248.592
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_22-8-25_217927335/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_22-8-25_217927335/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ee135a8d4231635bb76ba4bd234e448bd04af386
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_22-8-25_217927335/pose.jsonl
@@ -0,0 +1,470 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -704.3624534644896,
+            131.6910715670972,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -701.3624534644896,
+            131.6910715670972,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -698.3624534644896,
+            131.6910715670972,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -695.3624534644896,
+            131.6910715670972,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -692.3624534644896,
+            131.6910715670972,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -689.3624534644896,
+            131.6910715670972,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -686.3624534644896,
+            131.6910715670972,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -683.3624534644896,
+            131.6910715670972,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -680.3624534644896,
+            131.6910715670972,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -677.3624534644896,
+            131.6910715670972,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -674.3624534644896,
+            131.6910715670972,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -671.3624534644896,
+            131.6910715670972,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -668.3624534644896,
+            131.6910715670972,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -665.3624534644896,
+            131.6910715670972,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -662.3624534644896,
+            131.6910715670972,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -659.3624534644896,
+            131.6910715670972,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -656.3624534644896,
+            131.6910715670972,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -653.3624534644896,
+            131.6910715670972,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -650.3624534644896,
+            131.6910715670972,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -647.3624534644896,
+            131.6910715670972,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -647.3624534644896,
+            131.6910715670972,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -644.7643772531362,
+            130.1910715670972,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -642.1663010417828,
+            128.6910715670972,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -639.5682248304295,
+            127.1910715670972,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -636.9701486190761,
+            125.6910715670972,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -634.3720724077227,
+            124.1910715670972,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -631.7739961963694,
+            122.6910715670972,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -629.175919985016,
+            121.1910715670972,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -626.5778437736626,
+            119.6910715670972,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -623.9797675623092,
+            118.1910715670972,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -621.3816913509559,
+            116.6910715670972,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -618.7836151396025,
+            115.1910715670972,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -616.1855389282491,
+            113.6910715670972,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -613.5874627168957,
+            112.1910715670972,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -610.9893865055424,
+            110.6910715670972,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -596.0,
+            108.0,
+            130.693
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_22-9-9_513937457/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_22-9-9_513937457/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6f81d0e1e48c353fbec74e6d1a7cc422b82dd0e4
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_22-9-9_513937457/pose.jsonl
@@ -0,0 +1,522 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -603.0406352887861,
+            592.4660790392934,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -604.5406352887861,
+            589.86800282794,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -606.0406352887861,
+            587.2699266165866,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -607.5406352887861,
+            584.6718504052333,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -609.0406352887861,
+            582.0737741938799,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -610.5406352887861,
+            579.4756979825265,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -612.0406352887861,
+            576.8776217711732,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -613.5406352887861,
+            574.2795455598198,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -615.0406352887861,
+            571.6814693484664,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -616.5406352887861,
+            569.083393137113,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -618.0406352887861,
+            566.4853169257597,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -619.5406352887861,
+            563.8872407144063,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -621.0406352887861,
+            561.2891645030529,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -622.5406352887861,
+            558.6910882916995,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -624.0406352887861,
+            556.0930120803462,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -625.5406352887861,
+            553.4949358689928,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -627.0406352887861,
+            550.8968596576394,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -628.5406352887861,
+            548.298783446286,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -630.0406352887861,
+            545.7007072349327,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -631.5406352887861,
+            543.1026310235793,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -633.0406352887861,
+            540.5045548122259,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -634.5406352887861,
+            537.9064786008726,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -636.0406352887861,
+            535.3084023895192,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -637.5406352887861,
+            532.7103261781658,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -639.0406352887861,
+            530.1122499668124,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -640.5406352887861,
+            527.5141737554591,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -642.0406352887861,
+            524.9160975441057,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -643.5406352887861,
+            522.3180213327523,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -645.0406352887861,
+            519.719945121399,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -646.5406352887861,
+            517.1218689100456,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -648.0406352887861,
+            514.5237926986922,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -649.5406352887861,
+            511.9257164873389,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -651.0406352887861,
+            509.3276402759856,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -652.5406352887861,
+            506.72956406463226,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -654.0406352887861,
+            504.13148785327894,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -655.5406352887861,
+            501.5334116419256,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -657.0406352887861,
+            498.9353354305723,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -658.5406352887861,
+            496.337259219219,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -660.0406352887861,
+            493.7391830078657,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -672.0,
+            476.0,
+            178.751
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_23-1-47_1892430639/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_23-1-47_1892430639/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..35458335bacaeca8181fbf709e0a588dab060e58
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_23-1-47_1892430639/pose.jsonl
@@ -0,0 +1,93 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -648.3827783696963,
+            -129.94812939791782,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -651.3827783696963,
+            -129.94812939791782,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -654.3827783696963,
+            -129.94812939791782,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -657.3827783696963,
+            -129.94812939791782,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -660.3827783696963,
+            -129.94812939791782,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -663.3827783696963,
+            -129.94812939791782,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -748.0,
+            -140.0,
+            147.578
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_23-14-16_415522325/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_23-14-16_415522325/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ba3e28a23a330a93cc58a060d89cdcbbbed1719a
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_23-14-16_415522325/pose.jsonl
@@ -0,0 +1,158 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -622.0682389823194,
+            -37.15181928180989,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -620.5682389823194,
+            -34.553743070456576,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -619.0682389823194,
+            -31.95566685910326,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -617.5682389823194,
+            -29.357590647749944,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -616.0682389823194,
+            -26.75951443639663,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -614.5682389823194,
+            -24.161438225043312,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -613.0682389823194,
+            -21.563362013689996,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -611.5682389823194,
+            -18.96528580233668,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -610.0682389823194,
+            -16.367209590983364,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -608.5682389823194,
+            -13.769133379630048,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -607.0682389823194,
+            -11.171057168276732,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -564.0,
+            64.0,
+            128.669
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_23-16-40_981914693/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_23-16-40_981914693/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0d5c1481dd45ad2c0beff946ea427f84d5651f10
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_23-16-40_981914693/pose.jsonl
@@ -0,0 +1,574 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1173.7713003969009,
+            -1344.437340577872,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1172.2713003969009,
+            -1347.0354167892253,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1170.7713003969009,
+            -1349.6334930005787,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1169.2713003969009,
+            -1352.231569211932,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1167.7713003969009,
+            -1354.8296454232855,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1166.2713003969009,
+            -1357.4277216346388,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1164.7713003969009,
+            -1360.0257978459922,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1163.2713003969009,
+            -1362.6238740573456,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1161.7713003969009,
+            -1365.221950268699,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1160.2713003969009,
+            -1367.8200264800523,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1158.7713003969009,
+            -1370.4181026914057,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1157.2713003969009,
+            -1373.016178902759,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1155.7713003969009,
+            -1375.6142551141124,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1154.2713003969009,
+            -1378.2123313254658,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1152.7713003969009,
+            -1380.8104075368192,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1151.2713003969009,
+            -1383.4084837481726,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1149.7713003969009,
+            -1386.006559959526,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1148.2713003969009,
+            -1388.6046361708793,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1146.7713003969009,
+            -1391.2027123822327,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1145.2713003969009,
+            -1393.800788593586,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1143.7713003969009,
+            -1396.3988648049394,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1142.2713003969009,
+            -1398.9969410162928,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1140.7713003969009,
+            -1401.5950172276462,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1139.2713003969009,
+            -1404.1930934389995,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1137.7713003969009,
+            -1406.791169650353,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1136.2713003969009,
+            -1409.3892458617063,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1134.7713003969009,
+            -1411.9873220730597,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1133.2713003969009,
+            -1414.585398284413,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1131.7713003969009,
+            -1417.1834744957664,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1130.2713003969009,
+            -1419.7815507071198,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1128.7713003969009,
+            -1422.3796269184731,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1127.2713003969009,
+            -1424.9777031298265,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1125.7713003969009,
+            -1427.57577934118,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1124.2713003969009,
+            -1430.1738555525333,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1122.7713003969009,
+            -1432.7719317638866,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1122.7713003969009,
+            -1432.7719317638866,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1120.1732241855475,
+            -1434.2719317638866,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1117.5751479741941,
+            -1435.7719317638866,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1114.9770717628408,
+            -1437.2719317638866,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1112.3789955514874,
+            -1438.7719317638866,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1109.780919340134,
+            -1440.2719317638866,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1107.1828431287806,
+            -1441.7719317638866,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1104.5847669174273,
+            -1443.2719317638866,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1092.0,
+            -1460.0,
+            192.956
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_23-21-48_750167716/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_23-21-48_750167716/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a63b5b765b1d8c391aa24c09a93ff3bde5040ac2
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_23-21-48_750167716/pose.jsonl
@@ -0,0 +1,639 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1146.753832529308,
+            510.0844709770975,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1149.753832529308,
+            510.0844709770975,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1152.753832529308,
+            510.0844709770975,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1155.753832529308,
+            510.0844709770975,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1158.753832529308,
+            510.0844709770975,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1161.753832529308,
+            510.0844709770975,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1164.753832529308,
+            510.0844709770975,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1167.753832529308,
+            510.0844709770975,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1170.753832529308,
+            510.0844709770975,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1173.753832529308,
+            510.0844709770975,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1176.753832529308,
+            510.0844709770975,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1179.753832529308,
+            510.0844709770975,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1182.753832529308,
+            510.0844709770975,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1185.753832529308,
+            510.0844709770975,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1188.753832529308,
+            510.0844709770975,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1191.753832529308,
+            510.0844709770975,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1194.753832529308,
+            510.0844709770975,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1197.753832529308,
+            510.0844709770975,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1197.753832529308,
+            510.0844709770975,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1197.753832529308,
+            510.0844709770975,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1199.253832529308,
+            507.4863947657442,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1200.753832529308,
+            504.8883185543909,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1202.253832529308,
+            502.29024234303756,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1202.253832529308,
+            502.29024234303756,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1204.8519087406614,
+            500.79024234303756,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1207.4499849520148,
+            499.29024234303756,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1210.0480611633682,
+            497.79024234303756,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1212.6461373747215,
+            496.29024234303756,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1215.244213586075,
+            494.79024234303756,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1217.8422897974283,
+            493.29024234303756,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1220.4403660087817,
+            491.79024234303756,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1223.038442220135,
+            490.29024234303756,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1225.6365184314884,
+            488.79024234303756,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1228.2345946428418,
+            487.29024234303756,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1230.8326708541952,
+            485.79024234303756,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1233.4307470655485,
+            484.29024234303756,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1236.028823276902,
+            482.79024234303756,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1238.6268994882553,
+            481.29024234303756,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1241.2249756996086,
+            479.79024234303756,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1243.823051910962,
+            478.29024234303756,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1246.4211281223154,
+            476.79024234303756,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1249.0192043336688,
+            475.29024234303756,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1251.6172805450221,
+            473.79024234303756,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1254.2153567563755,
+            472.29024234303756,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1256.8134329677289,
+            470.79024234303756,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1259.4115091790823,
+            469.29024234303756,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1262.0095853904356,
+            467.79024234303756,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1264.607661601789,
+            466.29024234303756,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1288.0,
+            460.0,
+            146.581
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_23-22-54_737703662/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_23-22-54_737703662/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..724d39c2ea0ce3ea533427265b20787addd4de69
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_23-22-54_737703662/pose.jsonl
@@ -0,0 +1,691 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -562.5813965687998,
+            -40.661686509521104,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -559.9833203574465,
+            -42.161686509521104,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -557.3852441460931,
+            -43.661686509521104,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -554.7871679347397,
+            -45.161686509521104,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -552.1890917233864,
+            -46.661686509521104,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -549.591015512033,
+            -48.161686509521104,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -546.9929393006796,
+            -49.661686509521104,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -546.9929393006796,
+            -49.661686509521104,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -545.4929393006796,
+            -52.25976272087442,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -543.9929393006796,
+            -54.857838932227736,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -542.4929393006796,
+            -57.45591514358105,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -540.9929393006796,
+            -60.05399135493437,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -539.4929393006796,
+            -62.652067566287684,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -537.9929393006796,
+            -65.250143777641,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -537.9929393006796,
+            -65.250143777641,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -535.3948630893262,
+            -66.750143777641,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -535.3948630893262,
+            -66.750143777641,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -535.3948630893262,
+            -66.750143777641,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.570796326794887
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -535.3948630893262,
+            -69.750143777641,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -535.3948630893262,
+            -72.750143777641,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -535.3948630893262,
+            -75.750143777641,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -535.3948630893262,
+            -78.750143777641,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -535.3948630893262,
+            -81.750143777641,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -535.3948630893262,
+            -84.750143777641,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -535.3948630893262,
+            -87.750143777641,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -535.3948630893262,
+            -90.750143777641,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -535.3948630893262,
+            -93.750143777641,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -535.3948630893262,
+            -96.750143777641,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -535.3948630893262,
+            -99.750143777641,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -535.3948630893262,
+            -102.750143777641,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -535.3948630893262,
+            -105.750143777641,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -535.3948630893262,
+            -108.750143777641,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -535.3948630893262,
+            -111.750143777641,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -535.3948630893262,
+            -114.750143777641,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -535.3948630893262,
+            -117.750143777641,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -535.3948630893262,
+            -120.750143777641,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -535.3948630893262,
+            -123.750143777641,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -535.3948630893262,
+            -126.750143777641,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -535.3948630893262,
+            -129.750143777641,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -535.3948630893262,
+            -132.750143777641,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -535.3948630893262,
+            -132.750143777641,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -536.8948630893262,
+            -135.34821998899432,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -538.3948630893262,
+            -137.94629620034763,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -539.8948630893262,
+            -140.54437241170095,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -541.3948630893262,
+            -143.14244862305426,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -542.8948630893262,
+            -145.74052483440758,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -544.3948630893262,
+            -148.3386010457609,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -545.8948630893262,
+            -150.9366772571142,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -547.3948630893262,
+            -153.53475346846753,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -548.8948630893262,
+            -156.13282967982084,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -550.3948630893262,
+            -158.73090589117416,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -551.8948630893262,
+            -161.32898210252748,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -552.0,
+            -188.0,
+            158.828
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_23-24-42_2118801173/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_23-24-42_2118801173/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..85130c7a53cddbe4cc22f16ba3a26308131d39c3
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_23-24-42_2118801173/pose.jsonl
@@ -0,0 +1,535 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            102.50172828014146,
+            -174.55027188492994,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            102.50172828014146,
+            -171.55027188492994,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            102.50172828014146,
+            -168.55027188492994,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            102.50172828014146,
+            -165.55027188492994,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            102.50172828014146,
+            -162.55027188492994,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            102.50172828014146,
+            -159.55027188492994,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            102.50172828014146,
+            -156.55027188492994,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            102.50172828014146,
+            -153.55027188492994,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            102.50172828014146,
+            -150.55027188492994,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            102.50172828014146,
+            -147.55027188492994,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            102.50172828014146,
+            -144.55027188492994,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            102.50172828014146,
+            -141.55027188492994,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            102.50172828014146,
+            -138.55027188492994,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            102.50172828014146,
+            -135.55027188492994,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            102.50172828014146,
+            -132.55027188492994,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            102.50172828014146,
+            -129.55027188492994,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            102.50172828014146,
+            -126.55027188492994,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            102.50172828014146,
+            -123.55027188492994,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            102.50172828014146,
+            -120.55027188492994,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            102.50172828014146,
+            -117.55027188492994,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            102.50172828014146,
+            -114.55027188492994,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            102.50172828014146,
+            -111.55027188492994,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            102.50172828014146,
+            -108.55027188492994,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            102.50172828014146,
+            -108.55027188492994,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            101.00172828014146,
+            -105.95219567357663,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            99.50172828014146,
+            -103.35411946222331,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            98.00172828014146,
+            -100.75604325087,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            96.50172828014146,
+            -98.15796703951668,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            95.00172828014146,
+            -95.55989082816336,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            93.50172828014146,
+            -92.96181461681005,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            92.00172828014146,
+            -90.36373840545673,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            90.50172828014146,
+            -87.76566219410341,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            89.00172828014146,
+            -85.1675859827501,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            87.50172828014146,
+            -82.56950977139678,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            86.00172828014146,
+            -79.97143356004347,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            84.50172828014146,
+            -77.37335734869015,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            83.00172828014146,
+            -74.77528113733683,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            81.50172828014146,
+            -72.17720492598352,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            80.00172828014146,
+            -69.5791287146302,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            78.50172828014146,
+            -66.98105250327689,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            72.0,
+            -36.0,
+            146.253
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_23-29-23_222028828/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_23-29-23_222028828/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..465163640b13eb45ce5b89501cb3c592f16721ed
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_23-29-23_222028828/pose.jsonl
@@ -0,0 +1,67 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            971.0141531366003,
+            -524.6931261345874,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            969.5141531366003,
+            -522.095049923234,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            968.0141531366003,
+            -519.4969737118806,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            966.5141531366003,
+            -516.8988975005273,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            900.0,
+            -444.0,
+            149.898
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_23-3-30_481928577/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_23-3-30_481928577/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..883421a7b1253251d11c120c768711d964ff3ded
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_23-3-30_481928577/pose.jsonl
@@ -0,0 +1,418 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -625.5736388049128,
+            -95.61840355571304,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -624.0736388049128,
+            -98.21647976706636,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -622.5736388049128,
+            -100.81455597841968,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -621.0736388049128,
+            -103.41263218977299,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -619.5736388049128,
+            -106.01070840112631,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -618.0736388049128,
+            -108.60878461247962,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -616.5736388049128,
+            -111.20686082383294,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -615.0736388049128,
+            -113.80493703518626,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -613.5736388049128,
+            -116.40301324653957,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -612.0736388049128,
+            -119.00108945789289,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -610.5736388049128,
+            -121.5991656692462,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -609.0736388049128,
+            -124.19724188059952,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -607.5736388049128,
+            -126.79531809195284,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -606.0736388049128,
+            -129.39339430330614,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965954
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -604.5736388049128,
+            -131.99147051465945,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -603.0736388049128,
+            -134.58954672601277,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -601.5736388049128,
+            -137.1876229373661,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -600.0736388049128,
+            -139.7856991487194,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -598.5736388049128,
+            -142.38377536007272,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -598.5736388049128,
+            -142.38377536007272,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -595.9755625935595,
+            -143.88377536007272,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -593.3774863822061,
+            -145.38377536007272,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -590.7794101708528,
+            -146.88377536007272,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -588.1813339594994,
+            -148.38377536007272,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -585.583257748146,
+            -149.88377536007272,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -582.9851815367927,
+            -151.38377536007272,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -580.3871053254393,
+            -152.88377536007272,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -580.3871053254393,
+            -152.88377536007272,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -578.8871053254393,
+            -155.48185157142603,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -577.3871053254393,
+            -158.07992778277935,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -575.8871053254393,
+            -160.67800399413267,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -552.0,
+            -188.0,
+            158.828
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_23-33-25_2058907361/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_23-33-25_2058907361/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4bc6624d725ab2718fcc55788ed36ca2991cda23
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_23-33-25_2058907361/pose.jsonl
@@ -0,0 +1,470 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -827.707559481442,
+            -72.20987202556584,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -825.1094832700887,
+            -73.70987202556584,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -822.5114070587354,
+            -75.20987202556584,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -819.913330847382,
+            -76.70987202556584,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -817.3152546360286,
+            -78.20987202556584,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -814.7171784246752,
+            -79.70987202556584,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -812.1191022133219,
+            -81.20987202556584,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -809.5210260019685,
+            -82.70987202556584,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -806.9229497906151,
+            -84.20987202556584,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -804.3248735792617,
+            -85.70987202556584,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -801.7267973679084,
+            -87.20987202556584,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -799.128721156555,
+            -88.70987202556584,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -796.5306449452016,
+            -90.20987202556584,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -793.9325687338483,
+            -91.70987202556584,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -791.3344925224949,
+            -93.20987202556584,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -788.7364163111415,
+            -94.70987202556584,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -786.1383400997881,
+            -96.20987202556584,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -783.5402638884348,
+            -97.70987202556584,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -780.9421876770814,
+            -99.20987202556584,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -778.344111465728,
+            -100.70987202556584,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -775.7460352543746,
+            -102.20987202556584,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -773.1479590430213,
+            -103.70987202556584,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -770.5498828316679,
+            -105.20987202556584,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -767.9518066203145,
+            -106.70987202556584,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -765.3537304089612,
+            -108.20987202556584,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -762.7556541976078,
+            -109.70987202556584,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -760.1575779862544,
+            -111.20987202556584,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -757.559501774901,
+            -112.70987202556584,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -754.9614255635477,
+            -114.20987202556584,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -752.3633493521943,
+            -115.70987202556584,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -749.7652731408409,
+            -117.20987202556584,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -747.1671969294875,
+            -118.70987202556584,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -744.5691207181342,
+            -120.20987202556584,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -744.5691207181342,
+            -120.20987202556584,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 9.43689570931383e-15
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -741.5691207181342,
+            -120.20987202556584,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 9.43689570931383e-15
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -708.0,
+            -136.0,
+            147.579
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_23-35-57_394709364/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_23-35-57_394709364/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..56abe3d78ca3c9ccae0effd2870ebb4ac56b79ff
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_23-35-57_394709364/pose.jsonl
@@ -0,0 +1,457 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -949.6050499680246,
+            838.2035623584111,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -951.1050499680246,
+            835.6054861470577,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -952.6050499680246,
+            833.0074099357043,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -954.1050499680246,
+            830.409333724351,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -955.6050499680246,
+            827.8112575129976,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -957.1050499680246,
+            825.2131813016442,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -958.6050499680246,
+            822.6151050902909,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -960.1050499680246,
+            820.0170288789375,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -961.6050499680246,
+            817.4189526675841,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -963.1050499680246,
+            814.8208764562307,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -964.6050499680246,
+            812.2228002448774,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -966.1050499680246,
+            809.624724033524,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -967.6050499680246,
+            807.0266478221706,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -969.1050499680246,
+            804.4285716108172,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -970.6050499680246,
+            801.8304953994639,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -972.1050499680246,
+            799.2324191881105,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -973.6050499680246,
+            796.6343429767571,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -975.1050499680246,
+            794.0362667654038,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -976.6050499680246,
+            791.4381905540504,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -978.1050499680246,
+            788.840114342697,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -979.6050499680246,
+            786.2420381313436,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -981.1050499680246,
+            783.6439619199903,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -982.6050499680246,
+            781.0458857086369,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -984.1050499680246,
+            778.4478094972835,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -985.6050499680246,
+            775.8497332859301,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -987.1050499680246,
+            773.2516570745768,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -988.6050499680246,
+            770.6535808632234,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -990.1050499680246,
+            768.05550465187,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -991.6050499680246,
+            765.4574284405167,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -991.6050499680246,
+            765.4574284405167,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -991.6050499680246,
+            762.4574284405167,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -991.6050499680246,
+            759.4574284405167,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -991.6050499680246,
+            756.4574284405167,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -991.6050499680246,
+            753.4574284405167,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1004.0,
+            732.0,
+            143.403
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_23-51-41_929588156/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_23-51-41_929588156/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6ee13e27b1f74fb0de6be8426b5294d9aa69b4cc
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_23-51-41_929588156/pose.jsonl
@@ -0,0 +1,405 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -591.9655144122094,
+            -318.8978050463224,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -591.9655144122094,
+            -315.8978050463224,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -591.9655144122094,
+            -312.8978050463224,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -591.9655144122094,
+            -309.8978050463224,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -591.9655144122094,
+            -306.8978050463224,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -591.9655144122094,
+            -303.8978050463224,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -591.9655144122094,
+            -300.8978050463224,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -591.9655144122094,
+            -297.8978050463224,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -591.9655144122094,
+            -294.8978050463224,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -591.9655144122094,
+            -291.8978050463224,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -591.9655144122094,
+            -288.8978050463224,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -591.9655144122094,
+            -285.8978050463224,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -591.9655144122094,
+            -282.8978050463224,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -591.9655144122094,
+            -279.8978050463224,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -591.9655144122094,
+            -276.8978050463224,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -591.9655144122094,
+            -273.8978050463224,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -591.9655144122094,
+            -270.8978050463224,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -591.9655144122094,
+            -267.8978050463224,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -591.9655144122094,
+            -264.8978050463224,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -591.9655144122094,
+            -261.8978050463224,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -591.9655144122094,
+            -258.8978050463224,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -591.9655144122094,
+            -255.8978050463224,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -591.9655144122094,
+            -252.8978050463224,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -591.9655144122094,
+            -249.8978050463224,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -591.9655144122094,
+            -249.8978050463224,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -593.4655144122094,
+            -247.29972883496907,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -594.9655144122094,
+            -244.70165262361576,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -596.4655144122094,
+            -242.10357641226244,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -597.9655144122094,
+            -239.50550020090913,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -599.4655144122094,
+            -236.9074239895558,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -604.0,
+            -216.0,
+            139.826
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-10_23-56-19_1903409954/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_23-56-19_1903409954/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..514ef75d11b027bd35877b041568bac70a219b97
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-10_23-56-19_1903409954/pose.jsonl
@@ -0,0 +1,184 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1400.7879932802296,
+            445.88315596418846,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1397.7879932802296,
+            445.88315596418846,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1394.7879932802296,
+            445.88315596418846,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1391.7879932802296,
+            445.88315596418846,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1388.7879932802296,
+            445.88315596418846,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1385.7879932802296,
+            445.88315596418846,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1382.7879932802296,
+            445.88315596418846,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1379.7879932802296,
+            445.88315596418846,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1376.7879932802296,
+            445.88315596418846,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1373.7879932802296,
+            445.88315596418846,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1373.7879932802296,
+            445.88315596418846,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1371.1899170688762,
+            447.38315596418846,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1368.5918408575228,
+            448.88315596418846,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1288.0,
+            460.0,
+            146.581
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-11_0-1-18_1172063133/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_0-1-18_1172063133/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6f18e070996c986c8e9fd6aaaac5c1d1f8608a8b
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_0-1-18_1172063133/pose.jsonl
@@ -0,0 +1,418 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1887.9355587122438,
+            -744.3093871712839,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1889.4355587122438,
+            -741.7113109599306,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1890.9355587122438,
+            -739.1132347485773,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1892.4355587122438,
+            -736.5151585372239,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1893.9355587122438,
+            -733.9170823258705,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1895.4355587122438,
+            -731.3190061145172,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1896.9355587122438,
+            -728.7209299031638,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1898.4355587122438,
+            -726.1228536918104,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1899.9355587122438,
+            -723.524777480457,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1901.4355587122438,
+            -720.9267012691037,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1902.9355587122438,
+            -718.3286250577503,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1904.4355587122438,
+            -715.7305488463969,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1905.9355587122438,
+            -713.1324726350435,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1907.4355587122438,
+            -710.5343964236902,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1908.9355587122438,
+            -707.9363202123368,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1910.4355587122438,
+            -705.3382440009834,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1911.9355587122438,
+            -702.74016778963,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1913.4355587122438,
+            -700.1420915782767,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1914.9355587122438,
+            -697.5440153669233,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1916.4355587122438,
+            -694.9459391555699,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1917.9355587122438,
+            -692.3478629442166,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1919.4355587122438,
+            -689.7497867328632,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1920.9355587122438,
+            -687.1517105215098,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1922.4355587122438,
+            -684.5536343101564,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1923.9355587122438,
+            -681.9555580988031,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1925.4355587122438,
+            -679.3574818874497,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1925.4355587122438,
+            -679.3574818874497,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1928.0336349235972,
+            -677.8574818874497,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1930.6317111349506,
+            -676.3574818874497,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1933.229787346304,
+            -674.8574818874497,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1935.8278635576573,
+            -673.3574818874497,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1952.0,
+            -648.0,
+            146.448
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-11_0-2-0_1840019304/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_0-2-0_1840019304/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..56a1ec65cdbde8990c742bdbfbcea24f14530206
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_0-2-0_1840019304/pose.jsonl
@@ -0,0 +1,535 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -709.7756382302405,
+            -46.445927549328296,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -706.7756382302405,
+            -46.445927549328296,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -703.7756382302405,
+            -46.445927549328296,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -700.7756382302405,
+            -46.445927549328296,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -697.7756382302405,
+            -46.445927549328296,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -694.7756382302405,
+            -46.445927549328296,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -691.7756382302405,
+            -46.445927549328296,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -688.7756382302405,
+            -46.445927549328296,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -685.7756382302405,
+            -46.445927549328296,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -682.7756382302405,
+            -46.445927549328296,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -679.7756382302405,
+            -46.445927549328296,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -676.7756382302405,
+            -46.445927549328296,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -673.7756382302405,
+            -46.445927549328296,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -670.7756382302405,
+            -46.445927549328296,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -667.7756382302405,
+            -46.445927549328296,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -664.7756382302405,
+            -46.445927549328296,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -661.7756382302405,
+            -46.445927549328296,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -658.7756382302405,
+            -46.445927549328296,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -655.7756382302405,
+            -46.445927549328296,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -655.7756382302405,
+            -46.445927549328296,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -653.1775620188871,
+            -44.945927549328296,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -650.5794858075337,
+            -43.445927549328296,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -647.9814095961804,
+            -41.945927549328296,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -645.383333384827,
+            -40.445927549328296,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -642.7852571734736,
+            -38.945927549328296,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -640.1871809621202,
+            -37.445927549328296,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -637.5891047507669,
+            -35.945927549328296,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -634.9910285394135,
+            -34.445927549328296,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -632.3929523280601,
+            -32.945927549328296,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -629.7948761167067,
+            -31.445927549328296,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -627.1967999053534,
+            -29.945927549328296,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -624.598723694,
+            -28.445927549328296,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -622.0006474826466,
+            -26.945927549328296,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -619.4025712712933,
+            -25.445927549328296,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -616.8044950599399,
+            -23.945927549328296,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -614.2064188485865,
+            -22.445927549328296,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -611.6083426372331,
+            -20.945927549328296,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -609.0102664258798,
+            -19.445927549328296,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -606.4121902145264,
+            -17.945927549328296,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -603.814114003173,
+            -16.445927549328296,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -568.0,
+            -4.0,
+            139.561
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-11_0-29-49_1384079421/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_0-29-49_1384079421/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c73ae3118367f23dbc58c3118cab76a7a78fb41e
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_0-29-49_1384079421/pose.jsonl
@@ -0,0 +1,483 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1909.3257027458214,
+            -768.2896085336622,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1910.8257027458214,
+            -765.6915323223088,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1912.3257027458214,
+            -763.0934561109555,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1913.8257027458214,
+            -760.4953798996021,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1915.3257027458214,
+            -757.8973036882487,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1916.8257027458214,
+            -755.2992274768953,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1918.3257027458214,
+            -752.701151265542,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1919.8257027458214,
+            -750.1030750541886,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1921.3257027458214,
+            -747.5049988428352,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1922.8257027458214,
+            -744.9069226314818,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1924.3257027458214,
+            -742.3088464201285,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1925.8257027458214,
+            -739.7107702087751,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1927.3257027458214,
+            -737.1126939974217,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1928.8257027458214,
+            -734.5146177860684,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1930.3257027458214,
+            -731.916541574715,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1931.8257027458214,
+            -729.3184653633616,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1933.3257027458214,
+            -726.7203891520082,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1934.8257027458214,
+            -724.1223129406549,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1936.3257027458214,
+            -721.5242367293015,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1937.8257027458214,
+            -718.9261605179481,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1939.3257027458214,
+            -716.3280843065947,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1940.8257027458214,
+            -713.7300080952414,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1942.3257027458214,
+            -711.131931883888,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1943.8257027458214,
+            -708.5338556725346,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1943.8257027458214,
+            -708.5338556725346,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1943.8257027458214,
+            -705.5338556725346,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1943.8257027458214,
+            -702.5338556725346,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1943.8257027458214,
+            -699.5338556725346,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1943.8257027458214,
+            -696.5338556725346,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1943.8257027458214,
+            -693.5338556725346,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1943.8257027458214,
+            -690.5338556725346,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1943.8257027458214,
+            -687.5338556725346,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1943.8257027458214,
+            -684.5338556725346,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1943.8257027458214,
+            -681.5338556725346,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1943.8257027458214,
+            -678.5338556725346,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1943.8257027458214,
+            -675.5338556725346,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1952.0,
+            -648.0,
+            146.448
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-11_0-29-7_2086963638/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_0-29-7_2086963638/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b725d13ea00195e3e9120b236acec2c1b030e4b9
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_0-29-7_2086963638/pose.jsonl
@@ -0,0 +1,392 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1354.0952912214054,
+            400.38051200844126,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1354.0952912214054,
+            403.38051200844126,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1354.0952912214054,
+            406.38051200844126,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1354.0952912214054,
+            409.38051200844126,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1354.0952912214054,
+            412.38051200844126,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1354.0952912214054,
+            415.38051200844126,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1354.0952912214054,
+            418.38051200844126,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1354.0952912214054,
+            421.38051200844126,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1354.0952912214054,
+            424.38051200844126,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1354.0952912214054,
+            427.38051200844126,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1354.0952912214054,
+            430.38051200844126,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1354.0952912214054,
+            433.38051200844126,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1354.0952912214054,
+            436.38051200844126,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1354.0952912214054,
+            439.38051200844126,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1354.0952912214054,
+            442.38051200844126,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1354.0952912214054,
+            445.38051200844126,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1354.0952912214054,
+            448.38051200844126,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1354.0952912214054,
+            451.38051200844126,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1354.0952912214054,
+            454.38051200844126,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1354.0952912214054,
+            457.38051200844126,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1354.0952912214054,
+            457.38051200844126,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1352.5952912214054,
+            459.9785882197946,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1351.0952912214054,
+            462.5766644311479,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1349.5952912214054,
+            465.1747406425012,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1348.0952912214054,
+            467.7728168538545,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1346.5952912214054,
+            470.37089306520784,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1345.0952912214054,
+            472.96896927656115,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1343.5952912214054,
+            475.56704548791447,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1342.0952912214054,
+            478.1651216992678,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1336.0,
+            508.0,
+            177.171
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-11_0-31-57_1367209095/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_0-31-57_1367209095/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3d6f2d837872a7e6f120fbb35f9afe0acc327cee
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_0-31-57_1367209095/pose.jsonl
@@ -0,0 +1,574 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -956.5581374343778,
+            173.57757147757667,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -958.0581374343778,
+            170.97949526622335,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -959.5581374343778,
+            168.38141905487004,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -961.0581374343778,
+            165.78334284351672,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -962.5581374343778,
+            163.1852666321634,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -964.0581374343778,
+            160.5871904208101,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -965.5581374343778,
+            157.98911420945677,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -967.0581374343778,
+            155.39103799810346,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -968.5581374343778,
+            152.79296178675014,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -970.0581374343778,
+            150.19488557539682,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -971.5581374343778,
+            147.5968093640435,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -973.0581374343778,
+            144.9987331526902,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -974.5581374343778,
+            142.40065694133688,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -976.0581374343778,
+            139.80258072998356,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -977.5581374343778,
+            137.20450451863024,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -979.0581374343778,
+            134.60642830727693,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -980.5581374343778,
+            132.0083520959236,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -982.0581374343778,
+            129.4102758845703,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -983.5581374343778,
+            126.81219967321698,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -985.0581374343778,
+            124.21412346186366,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -986.5581374343778,
+            121.61604725051035,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -988.0581374343778,
+            119.01797103915703,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -989.5581374343778,
+            116.41989482780372,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -991.0581374343778,
+            113.8218186164504,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -992.5581374343778,
+            111.22374240509708,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -994.0581374343778,
+            108.62566619374377,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -995.5581374343778,
+            106.02758998239045,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -997.0581374343778,
+            103.42951377103714,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -998.5581374343778,
+            100.83143755968382,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -998.5581374343778,
+            100.83143755968382,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1001.1562136457312,
+            99.33143755968382,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1003.7542898570846,
+            97.83143755968382,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1006.352366068438,
+            96.33143755968382,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1008.9504422797913,
+            94.83143755968382,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1011.5485184911447,
+            93.33143755968382,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1014.1465947024981,
+            91.83143755968382,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1016.7446709138515,
+            90.33143755968382,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1019.3427471252048,
+            88.83143755968382,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1019.3427471252048,
+            88.83143755968382,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1020.8427471252048,
+            86.2333613483305,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1022.3427471252048,
+            83.63528513697719,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1023.8427471252048,
+            81.03720892562387,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -1025.3427471252048,
+            78.43913271427056,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1044.0,
+            56.0,
+            144.537
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-11_0-34-58_93155710/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_0-34-58_93155710/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..39f6d46a9aa589f35da5a0f3016a43a7dd5fc27d
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_0-34-58_93155710/pose.jsonl
@@ -0,0 +1,561 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            116.51241622698771,
+            -318.4762152454772,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            118.01241622698771,
+            -321.0742914568305,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            119.51241622698771,
+            -323.6723676681838,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            121.01241622698771,
+            -326.27044387953714,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            122.51241622698771,
+            -328.86852009089046,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            124.01241622698771,
+            -331.4665963022438,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            125.51241622698771,
+            -334.0646725135971,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            127.01241622698771,
+            -336.6627487249504,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            128.5124162269877,
+            -339.2608249363037,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            130.0124162269877,
+            -341.85890114765704,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            131.5124162269877,
+            -344.45697735901035,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            133.0124162269877,
+            -347.05505357036367,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            134.5124162269877,
+            -349.653129781717,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            136.0124162269877,
+            -352.2512059930703,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            137.5124162269877,
+            -354.8492822044236,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            139.0124162269877,
+            -357.44735841577693,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            140.5124162269877,
+            -360.04543462713025,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            142.0124162269877,
+            -362.64351083848356,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            143.5124162269877,
+            -365.2415870498369,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            145.0124162269877,
+            -367.8396632611902,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            146.5124162269877,
+            -370.4377394725435,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            148.0124162269877,
+            -373.03581568389683,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            149.5124162269877,
+            -375.63389189525014,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            151.0124162269877,
+            -378.23196810660346,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            152.5124162269877,
+            -380.8300443179568,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            154.0124162269877,
+            -383.4281205293101,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            154.0124162269877,
+            -383.4281205293101,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            154.0124162269877,
+            -386.4281205293101,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            154.0124162269877,
+            -389.4281205293101,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            154.0124162269877,
+            -392.4281205293101,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            154.0124162269877,
+            -395.4281205293101,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            154.0124162269877,
+            -398.4281205293101,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            154.0124162269877,
+            -401.4281205293101,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            154.0124162269877,
+            -404.4281205293101,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            154.0124162269877,
+            -407.4281205293101,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            154.0124162269877,
+            -410.4281205293101,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            154.0124162269877,
+            -413.4281205293101,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            154.0124162269877,
+            -416.4281205293101,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            154.0124162269877,
+            -419.4281205293101,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            154.0124162269877,
+            -422.4281205293101,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            154.0124162269877,
+            -425.4281205293101,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            154.0124162269877,
+            -428.4281205293101,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            164.0,
+            -456.0,
+            137.23
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-11_0-44-37_454806773/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_0-44-37_454806773/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b633503f55163021d143fb08b25d4fe9599d0f89
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_0-44-37_454806773/pose.jsonl
@@ -0,0 +1,314 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -623.5490374859113,
+            673.9028858406373,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -625.0490374859113,
+            676.5009620519907,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -626.5490374859113,
+            679.099038263344,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -626.5490374859113,
+            679.099038263344,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -626.5490374859113,
+            679.099038263344,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -625.0490374859113,
+            681.6971144746974,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -623.5490374859113,
+            684.2951906860508,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -622.0490374859113,
+            686.8932668974041,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -620.5490374859113,
+            689.4913431087575,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -619.0490374859113,
+            692.0894193201109,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -617.5490374859113,
+            694.6874955314643,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -616.0490374859113,
+            697.2855717428176,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -614.5490374859113,
+            699.883647954171,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -613.0490374859113,
+            702.4817241655244,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -611.5490374859113,
+            705.0798003768778,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -610.0490374859113,
+            707.6778765882311,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -608.5490374859113,
+            710.2759527995845,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -608.5490374859113,
+            710.2759527995845,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -605.950961274558,
+            711.7759527995845,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -603.3528850632047,
+            713.2759527995845,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -600.7548088518513,
+            714.7759527995845,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -598.1567326404979,
+            716.2759527995845,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -595.5586564291445,
+            717.7759527995845,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -564.0,
+            772.0,
+            147.72
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-11_0-45-8_2017881519/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_0-45-8_2017881519/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..37366d944f603b71c268f179c87679833e112c21
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_0-45-8_2017881519/pose.jsonl
@@ -0,0 +1,405 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1324.2975610640328,
+            -358.8583666816493,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1327.2975610640328,
+            -358.8583666816493,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1330.2975610640328,
+            -358.8583666816493,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1333.2975610640328,
+            -358.8583666816493,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1336.2975610640328,
+            -358.8583666816493,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1339.2975610640328,
+            -358.8583666816493,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1342.2975610640328,
+            -358.8583666816493,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1345.2975610640328,
+            -358.8583666816493,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1348.2975610640328,
+            -358.8583666816493,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1351.2975610640328,
+            -358.8583666816493,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1354.2975610640328,
+            -358.8583666816493,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1357.2975610640328,
+            -358.8583666816493,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1360.2975610640328,
+            -358.8583666816493,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1363.2975610640328,
+            -358.8583666816493,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1366.2975610640328,
+            -358.8583666816493,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1369.2975610640328,
+            -358.8583666816493,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1372.2975610640328,
+            -358.8583666816493,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1375.2975610640328,
+            -358.8583666816493,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1378.2975610640328,
+            -358.8583666816493,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1381.2975610640328,
+            -358.8583666816493,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1381.2975610640328,
+            -358.8583666816493,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1383.8956372753862,
+            -357.3583666816493,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1386.4937134867396,
+            -355.8583666816493,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1389.091789698093,
+            -354.3583666816493,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1391.6898659094463,
+            -352.8583666816493,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1394.2879421207997,
+            -351.3583666816493,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1396.886018332153,
+            -349.8583666816493,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1399.4840945435064,
+            -348.3583666816493,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1402.0821707548598,
+            -346.8583666816493,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1404.6802469662132,
+            -345.3583666816493,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1452.0,
+            -336.0,
+            120.709
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-11_0-7-17_38649718/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_0-7-17_38649718/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..544f3c972b696e5d96bd423b6123eaca86b82bce
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_0-7-17_38649718/pose.jsonl
@@ -0,0 +1,379 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -898.4510103998448,
+            647.4538864637459,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -901.0490866111982,
+            648.9538864637459,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -903.6471628225515,
+            650.4538864637459,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -906.2452390339049,
+            651.9538864637459,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -908.8433152452583,
+            653.4538864637459,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -911.4413914566117,
+            654.9538864637459,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -914.039467667965,
+            656.4538864637459,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -916.6375438793184,
+            657.9538864637459,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -919.2356200906718,
+            659.4538864637459,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -921.8336963020251,
+            660.9538864637459,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -924.4317725133785,
+            662.4538864637459,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -927.0298487247319,
+            663.9538864637459,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -929.6279249360853,
+            665.4538864637459,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -932.2260011474386,
+            666.9538864637459,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -934.824077358792,
+            668.4538864637459,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -937.4221535701454,
+            669.9538864637459,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -940.0202297814988,
+            671.4538864637459,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -942.6183059928521,
+            672.9538864637459,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -942.6183059928521,
+            672.9538864637459,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -944.1183059928521,
+            675.5519626750993,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -945.6183059928521,
+            678.1500388864526,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -947.1183059928521,
+            680.748115097806,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -948.6183059928521,
+            683.3461913091594,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -950.1183059928521,
+            685.9442675205128,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -951.6183059928521,
+            688.5423437318661,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -953.1183059928521,
+            691.1404199432195,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -954.6183059928521,
+            693.7384961545729,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -956.1183059928521,
+            696.3365723659263,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1004.0,
+            732.0,
+            143.403
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-11_1-19-24_1510906527/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_1-19-24_1510906527/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4add325b3aa19f9e609086d734a6f5353e25501d
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_1-19-24_1510906527/pose.jsonl
@@ -0,0 +1,470 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -700.5391737245275,
+            356.8847083104346,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -699.0391737245275,
+            359.4827845217879,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -697.5391737245275,
+            362.0808607331412,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -696.0391737245275,
+            364.6789369444945,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -694.5391737245275,
+            367.27701315584784,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -693.0391737245275,
+            369.87508936720116,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -691.5391737245275,
+            372.4731655785545,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -690.0391737245275,
+            375.0712417899078,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -688.5391737245275,
+            377.6693180012611,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -687.0391737245275,
+            380.2673942126144,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -685.5391737245275,
+            382.86547042396774,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -684.0391737245275,
+            385.46354663532105,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -682.5391737245275,
+            388.06162284667437,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -681.0391737245275,
+            390.6596990580277,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -679.5391737245275,
+            393.257775269381,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -678.0391737245275,
+            395.8558514807343,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -676.5391737245275,
+            398.45392769208763,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -676.5391737245275,
+            398.45392769208763,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -676.5391737245275,
+            401.45392769208763,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -676.5391737245275,
+            404.45392769208763,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -676.5391737245275,
+            407.45392769208763,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -676.5391737245275,
+            410.45392769208763,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -676.5391737245275,
+            413.45392769208763,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -676.5391737245275,
+            416.45392769208763,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -676.5391737245275,
+            419.45392769208763,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -676.5391737245275,
+            422.45392769208763,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -676.5391737245275,
+            425.45392769208763,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -676.5391737245275,
+            428.45392769208763,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -676.5391737245275,
+            431.45392769208763,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -676.5391737245275,
+            434.45392769208763,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -676.5391737245275,
+            437.45392769208763,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -676.5391737245275,
+            440.45392769208763,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -676.5391737245275,
+            443.45392769208763,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -676.5391737245275,
+            446.45392769208763,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -676.5391737245275,
+            449.45392769208763,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -672.0,
+            476.0,
+            178.751
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-11_1-23-32_1588695568/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_1-23-32_1588695568/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7a7302c287dd4229e6c5c05a7339651f36717f07
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_1-23-32_1588695568/pose.jsonl
@@ -0,0 +1,392 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            26.35476777948239,
+            747.6159648484136,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            26.35476777948239,
+            744.6159648484136,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            26.35476777948239,
+            741.6159648484136,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            26.35476777948239,
+            738.6159648484136,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            26.35476777948239,
+            735.6159648484136,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            26.35476777948239,
+            732.6159648484136,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            26.35476777948239,
+            729.6159648484136,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            26.35476777948239,
+            726.6159648484136,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            26.35476777948239,
+            723.6159648484136,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            26.35476777948239,
+            720.6159648484136,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            26.35476777948239,
+            717.6159648484136,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            26.35476777948239,
+            714.6159648484136,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            26.35476777948239,
+            711.6159648484136,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            26.35476777948239,
+            708.6159648484136,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            26.35476777948239,
+            705.6159648484136,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            26.35476777948239,
+            702.6159648484136,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            26.35476777948239,
+            699.6159648484136,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            26.35476777948239,
+            696.6159648484136,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            26.35476777948239,
+            696.6159648484136,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            27.85476777948239,
+            694.0178886370602,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            29.35476777948239,
+            691.4198124257068,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            30.85476777948239,
+            688.8217362143535,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            32.354767779482394,
+            686.2236600030001,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966063
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            33.854767779482394,
+            683.6255837916467,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            35.354767779482394,
+            681.0275075802933,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            36.854767779482394,
+            678.42943136894,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            38.354767779482394,
+            675.8313551575866,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            39.854767779482394,
+            673.2332789462332,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            41.354767779482394,
+            670.6352027348798,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            52.0,
+            616.0,
+            138.276
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-11_1-24-18_535286141/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_1-24-18_535286141/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0520245a4972cf245494b5a34bea118a2e8a3364
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_1-24-18_535286141/pose.jsonl
@@ -0,0 +1,496 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1238.6837775968388,
+            354.0367370879577,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1235.6837775968388,
+            354.0367370879577,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1232.6837775968388,
+            354.0367370879577,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1229.6837775968388,
+            354.0367370879577,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1226.6837775968388,
+            354.0367370879577,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1226.6837775968388,
+            354.0367370879577,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1224.0857013854854,
+            355.5367370879577,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1221.487625174132,
+            357.0367370879577,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1218.8895489627787,
+            358.5367370879577,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1216.2914727514253,
+            360.0367370879577,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1213.693396540072,
+            361.5367370879577,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1211.0953203287186,
+            363.0367370879577,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1208.4972441173652,
+            364.5367370879577,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1205.8991679060118,
+            366.0367370879577,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1203.3010916946585,
+            367.5367370879577,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1200.703015483305,
+            369.0367370879577,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1198.1049392719517,
+            370.5367370879577,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1195.5068630605983,
+            372.0367370879577,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1192.908786849245,
+            373.5367370879577,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1190.3107106378916,
+            375.0367370879577,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1187.7126344265382,
+            376.5367370879577,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1185.1145582151848,
+            378.0367370879577,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1182.5164820038315,
+            379.5367370879577,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1179.918405792478,
+            381.0367370879577,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1177.3203295811247,
+            382.5367370879577,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1174.7222533697714,
+            384.0367370879577,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1172.124177158418,
+            385.5367370879577,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1169.5261009470646,
+            387.0367370879577,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1166.9280247357112,
+            388.5367370879577,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1164.3299485243579,
+            390.0367370879577,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1161.7318723130045,
+            391.5367370879577,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1159.1337961016511,
+            393.0367370879577,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1156.5357198902977,
+            394.5367370879577,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1153.9376436789444,
+            396.0367370879577,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1151.339567467591,
+            397.5367370879577,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1148.7414912562376,
+            399.0367370879577,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1146.1434150448843,
+            400.5367370879577,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1128.0,
+            412.0,
+            147.699
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-11_1-3-56_310242589/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_1-3-56_310242589/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1618617279f3e6665b2b88579fd8d5c38d4a537d
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_1-3-56_310242589/pose.jsonl
@@ -0,0 +1,340 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -605.3268705204821,
+            -179.44022160025548,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -608.3268705204821,
+            -179.44022160025548,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -611.3268705204821,
+            -179.44022160025548,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -614.3268705204821,
+            -179.44022160025548,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -617.3268705204821,
+            -179.44022160025548,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -620.3268705204821,
+            -179.44022160025548,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -623.3268705204821,
+            -179.44022160025548,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -626.3268705204821,
+            -179.44022160025548,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -629.3268705204821,
+            -179.44022160025548,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -632.3268705204821,
+            -179.44022160025548,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -635.3268705204821,
+            -179.44022160025548,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -638.3268705204821,
+            -179.44022160025548,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -641.3268705204821,
+            -179.44022160025548,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -644.3268705204821,
+            -179.44022160025548,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -647.3268705204821,
+            -179.44022160025548,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -650.3268705204821,
+            -179.44022160025548,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -650.3268705204821,
+            -179.44022160025548,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -652.9249467318355,
+            -180.94022160025548,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -655.5230229431888,
+            -182.44022160025548,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -658.1210991545422,
+            -183.94022160025548,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -660.7191753658956,
+            -185.44022160025548,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -663.317251577249,
+            -186.94022160025548,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -665.9153277886023,
+            -188.44022160025548,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -668.5134039999557,
+            -189.94022160025548,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -671.1114802113091,
+            -191.44022160025548,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -708.0,
+            -200.0,
+            147.68
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-11_1-45-27_185963953/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_1-45-27_185963953/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..36c11ec62560a13952aa0cf33902fd55cb0f7a5e
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_1-45-27_185963953/pose.jsonl
@@ -0,0 +1,392 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -665.1523632981268,
+            -50.556483204045556,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -662.1523632981268,
+            -50.556483204045556,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -659.1523632981268,
+            -50.556483204045556,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -656.1523632981268,
+            -50.556483204045556,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -653.1523632981268,
+            -50.556483204045556,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -650.1523632981268,
+            -50.556483204045556,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -647.1523632981268,
+            -50.556483204045556,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -644.1523632981268,
+            -50.556483204045556,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -644.1523632981268,
+            -50.556483204045556,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -644.1523632981268,
+            -50.556483204045556,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -642.6523632981268,
+            -47.95840699269224,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -641.1523632981268,
+            -45.360330781338924,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -639.6523632981268,
+            -42.76225456998561,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -638.1523632981268,
+            -40.16417835863229,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -636.6523632981268,
+            -37.566102147278976,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -636.6523632981268,
+            -37.566102147278976,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -634.0542870867735,
+            -36.066102147278976,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -631.4562108754201,
+            -34.566102147278976,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -628.8581346640667,
+            -33.066102147278976,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -626.2600584527133,
+            -31.566102147278976,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -623.66198224136,
+            -30.066102147278976,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -621.0639060300066,
+            -28.566102147278976,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -618.4658298186532,
+            -27.066102147278976,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -615.8677536072998,
+            -25.566102147278976,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -613.2696773959465,
+            -24.066102147278976,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -610.6716011845931,
+            -22.566102147278976,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -608.0735249732397,
+            -21.066102147278976,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -608.0735249732397,
+            -21.066102147278976,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -9.43689570931383e-15
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -605.0735249732397,
+            -21.066102147278976,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -9.43689570931383e-15
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -568.0,
+            -4.0,
+            139.561
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-11_1-52-50_1142930164/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_1-52-50_1142930164/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..256b2bebb95e6bc532328d9a3b8fed9eff158aae
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_1-52-50_1142930164/pose.jsonl
@@ -0,0 +1,431 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1510.4537126301398,
+            -279.0332058819356,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1508.9537126301398,
+            -281.6312820932889,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1507.4537126301398,
+            -284.22935830464223,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1505.9537126301398,
+            -286.82743451599555,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1504.4537126301398,
+            -289.42551072734886,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1502.9537126301398,
+            -292.0235869387022,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1501.4537126301398,
+            -294.6216631500555,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1499.9537126301398,
+            -297.2197393614088,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1498.4537126301398,
+            -299.81781557276213,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1496.9537126301398,
+            -302.41589178411544,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1495.4537126301398,
+            -305.01396799546876,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1493.9537126301398,
+            -307.6120442068221,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1492.4537126301398,
+            -310.2101204181754,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1490.9537126301398,
+            -312.8081966295287,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1489.4537126301398,
+            -315.406272840882,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1487.9537126301398,
+            -318.00434905223534,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1486.4537126301398,
+            -320.60242526358866,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1484.9537126301398,
+            -323.200501474942,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1483.4537126301398,
+            -325.7985776862953,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1481.9537126301398,
+            -328.3966538976486,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1480.4537126301398,
+            -330.9947301090019,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1478.9537126301398,
+            -333.59280632035524,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1477.4537126301398,
+            -336.19088253170855,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1475.9537126301398,
+            -338.78895874306187,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1474.4537126301398,
+            -341.3870349544152,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1472.9537126301398,
+            -343.9851111657685,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1471.4537126301398,
+            -346.5831873771218,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1471.4537126301398,
+            -346.5831873771218,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1471.4537126301398,
+            -349.5831873771218,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1471.4537126301398,
+            -352.5831873771218,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1471.4537126301398,
+            -355.5831873771218,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1471.4537126301398,
+            -358.5831873771218,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1452.0,
+            -396.0,
+            151.137
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-11_1-53-38_127052251/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_1-53-38_127052251/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0c010118121c8beefe5ff6863c79448c1472da48
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_1-53-38_127052251/pose.jsonl
@@ -0,0 +1,327 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -452.01123470654727,
+            84.00763198292827,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -455.01123470654727,
+            84.00763198292827,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -458.01123470654727,
+            84.00763198292827,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -461.01123470654727,
+            84.00763198292827,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -464.01123470654727,
+            84.00763198292827,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -467.01123470654727,
+            84.00763198292827,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -470.01123470654727,
+            84.00763198292827,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -473.01123470654727,
+            84.00763198292827,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -476.01123470654727,
+            84.00763198292827,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -479.01123470654727,
+            84.00763198292827,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -482.01123470654727,
+            84.00763198292827,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -485.01123470654727,
+            84.00763198292827,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -488.01123470654727,
+            84.00763198292827,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -491.01123470654727,
+            84.00763198292827,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -494.01123470654727,
+            84.00763198292827,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -497.01123470654727,
+            84.00763198292827,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -497.01123470654727,
+            84.00763198292827,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -499.6093109179006,
+            82.50763198292827,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -502.2073871292539,
+            81.00763198292827,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -504.8054633406072,
+            79.50763198292827,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -507.40353955196053,
+            78.00763198292827,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -510.00161576331385,
+            76.50763198292827,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -512.5996919746672,
+            75.00763198292827,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -515.1977681860205,
+            73.50763198292827,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -564.0,
+            64.0,
+            128.669
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-11_1-57-52_266222407/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_1-57-52_266222407/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d40a964ddfded54fe83430591d6cdb2c0d9df9a4
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_1-57-52_266222407/pose.jsonl
@@ -0,0 +1,132 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -564.6144504908287,
+            -57.04085986962781,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -564.6144504908287,
+            -54.04085986962781,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -564.6144504908287,
+            -51.04085986962781,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -564.6144504908287,
+            -48.04085986962781,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -564.6144504908287,
+            -45.04085986962781,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -564.6144504908287,
+            -42.04085986962781,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -564.6144504908287,
+            -39.04085986962781,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -564.6144504908287,
+            -36.04085986962781,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -564.6144504908287,
+            -33.04085986962781,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -564.0,
+            64.0,
+            128.669
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-11_1-6-38_76277107/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_1-6-38_76277107/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6b7ab0b651fbaeecb415f2c57244553d45ea0870
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_1-6-38_76277107/pose.jsonl
@@ -0,0 +1,418 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -925.4320425605844,
+            116.7458253321291,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -928.0301187719376,
+            115.2458253321291,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -930.628194983291,
+            113.7458253321291,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -933.2262711946444,
+            112.2458253321291,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -935.8243474059977,
+            110.7458253321291,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -938.4224236173511,
+            109.2458253321291,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -941.0204998287045,
+            107.7458253321291,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -943.6185760400579,
+            106.2458253321291,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -946.2166522514112,
+            104.7458253321291,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -948.8147284627646,
+            103.2458253321291,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -951.412804674118,
+            101.7458253321291,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -954.0108808854714,
+            100.2458253321291,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -956.6089570968247,
+            98.7458253321291,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -959.2070333081781,
+            97.2458253321291,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -961.8051095195315,
+            95.7458253321291,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -964.4031857308848,
+            94.2458253321291,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -967.0012619422382,
+            92.7458253321291,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -969.5993381535916,
+            91.2458253321291,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -972.197414364945,
+            89.7458253321291,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -974.7954905762983,
+            88.2458253321291,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -977.3935667876517,
+            86.7458253321291,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -979.9916429990051,
+            85.2458253321291,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -982.5897192103585,
+            83.7458253321291,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -985.1877954217118,
+            82.2458253321291,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -987.7858716330652,
+            80.7458253321291,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -990.3839478444186,
+            79.2458253321291,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -992.982024055772,
+            77.7458253321291,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -995.5801002671253,
+            76.2458253321291,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -995.5801002671253,
+            76.2458253321291,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -998.5801002671253,
+            76.2458253321291,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1001.5801002671253,
+            76.2458253321291,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1044.0,
+            56.0,
+            144.537
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-11_10-13-7_76982346/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_10-13-7_76982346/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8ba5e29cad183d4873529b581893f987ca6697dd
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_10-13-7_76982346/pose.jsonl
@@ -0,0 +1,587 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -135.94150775696318,
+            -72.7187044395378,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -132.94150775696318,
+            -72.7187044395378,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -129.94150775696318,
+            -72.7187044395378,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -129.94150775696318,
+            -72.7187044395378,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -127.34343154560986,
+            -71.2187044395378,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -124.74535533425654,
+            -69.7187044395378,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -122.14727912290323,
+            -68.2187044395378,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -119.54920291154991,
+            -66.7187044395378,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -119.54920291154991,
+            -66.7187044395378,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -116.54920291154991,
+            -66.7187044395378,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -113.54920291154991,
+            -66.7187044395378,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -110.54920291154991,
+            -66.7187044395378,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -107.54920291154991,
+            -66.7187044395378,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -104.54920291154991,
+            -66.7187044395378,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -101.54920291154991,
+            -66.7187044395378,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -98.54920291154991,
+            -66.7187044395378,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -95.54920291154991,
+            -66.7187044395378,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -92.54920291154991,
+            -66.7187044395378,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -89.54920291154991,
+            -66.7187044395378,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -86.54920291154991,
+            -66.7187044395378,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -83.54920291154991,
+            -66.7187044395378,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -80.54920291154991,
+            -66.7187044395378,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -77.54920291154991,
+            -66.7187044395378,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -74.54920291154991,
+            -66.7187044395378,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -71.54920291154991,
+            -66.7187044395378,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -68.54920291154991,
+            -66.7187044395378,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -65.54920291154991,
+            -66.7187044395378,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -62.54920291154991,
+            -66.7187044395378,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -59.54920291154991,
+            -66.7187044395378,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -56.54920291154991,
+            -66.7187044395378,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -53.54920291154991,
+            -66.7187044395378,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -50.54920291154991,
+            -66.7187044395378,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -47.54920291154991,
+            -66.7187044395378,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -44.54920291154991,
+            -66.7187044395378,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -41.54920291154991,
+            -66.7187044395378,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -38.54920291154991,
+            -66.7187044395378,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -35.54920291154991,
+            -66.7187044395378,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -32.54920291154991,
+            -66.7187044395378,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -29.549202911549912,
+            -66.7187044395378,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -26.549202911549912,
+            -66.7187044395378,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -23.549202911549912,
+            -66.7187044395378,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -20.549202911549912,
+            -66.7187044395378,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -17.549202911549912,
+            -66.7187044395378,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -14.549202911549912,
+            -66.7187044395378,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            8.0,
+            -68.0,
+            154.054
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-11_10-14-17_147775927/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_10-14-17_147775927/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e89ed22c01b2a18db5adc4a715aa9b57c0923457
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_10-14-17_147775927/pose.jsonl
@@ -0,0 +1,587 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            771.0010088207745,
+            -505.9131185971325,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            774.0010088207745,
+            -505.9131185971325,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            777.0010088207745,
+            -505.9131185971325,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            780.0010088207745,
+            -505.9131185971325,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            783.0010088207745,
+            -505.9131185971325,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            786.0010088207745,
+            -505.9131185971325,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            789.0010088207745,
+            -505.9131185971325,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            789.0010088207745,
+            -505.9131185971325,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            791.5990850321277,
+            -504.4131185971325,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            794.1971612434811,
+            -502.9131185971325,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            796.7952374548345,
+            -501.4131185971325,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            799.3933136661879,
+            -499.9131185971325,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            801.9913898775412,
+            -498.4131185971325,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            804.5894660888946,
+            -496.9131185971325,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            807.187542300248,
+            -495.4131185971325,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            809.7856185116013,
+            -493.9131185971325,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            812.3836947229547,
+            -492.4131185971325,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            814.9817709343081,
+            -490.9131185971325,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            817.5798471456615,
+            -489.4131185971325,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            820.1779233570148,
+            -487.9131185971325,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            822.7759995683682,
+            -486.4131185971325,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            825.3740757797216,
+            -484.9131185971325,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            827.972151991075,
+            -483.4131185971325,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            830.5702282024283,
+            -481.9131185971325,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            833.1683044137817,
+            -480.4131185971325,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            835.7663806251351,
+            -478.9131185971325,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            838.3644568364884,
+            -477.4131185971325,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            840.9625330478418,
+            -475.9131185971325,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            843.5606092591952,
+            -474.4131185971325,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            846.1586854705486,
+            -472.9131185971325,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            848.7567616819019,
+            -471.4131185971325,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            851.3548378932553,
+            -469.9131185971325,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            853.9529141046087,
+            -468.4131185971325,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            856.550990315962,
+            -466.9131185971325,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            859.1490665273154,
+            -465.4131185971325,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            861.7471427386688,
+            -463.9131185971325,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            864.3452189500222,
+            -462.4131185971325,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            866.9432951613755,
+            -460.9131185971325,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            869.5413713727289,
+            -459.4131185971325,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            872.1394475840823,
+            -457.9131185971325,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            874.7375237954357,
+            -456.4131185971325,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            877.335600006789,
+            -454.9131185971325,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            879.9336762181424,
+            -453.4131185971325,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            882.5317524294958,
+            -451.9131185971325,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            900.0,
+            -444.0,
+            149.898
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-11_10-17-21_1403997111/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_10-17-21_1403997111/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f911fe4141091f6d8d8deafab3712b9939ce7bd6
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_10-17-21_1403997111/pose.jsonl
@@ -0,0 +1,431 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            2074.7842891022583,
+            -622.6351022036265,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            2071.7842891022583,
+            -622.6351022036265,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            2068.7842891022583,
+            -622.6351022036265,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            2065.7842891022583,
+            -622.6351022036265,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            2062.7842891022583,
+            -622.6351022036265,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            2059.7842891022583,
+            -622.6351022036265,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            2056.7842891022583,
+            -622.6351022036265,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            2053.7842891022583,
+            -622.6351022036265,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            2050.7842891022583,
+            -622.6351022036265,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            2047.7842891022583,
+            -622.6351022036265,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            2044.7842891022583,
+            -622.6351022036265,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            2041.7842891022583,
+            -622.6351022036265,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            2038.7842891022583,
+            -622.6351022036265,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            2035.7842891022583,
+            -622.6351022036265,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            2032.7842891022583,
+            -622.6351022036265,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            2029.7842891022583,
+            -622.6351022036265,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            2026.7842891022583,
+            -622.6351022036265,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            2026.7842891022583,
+            -622.6351022036265,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            2024.186212890905,
+            -624.1351022036265,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            2021.5881366795516,
+            -625.6351022036265,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            2018.9900604681982,
+            -627.1351022036265,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            2016.3919842568448,
+            -628.6351022036265,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            2013.7939080454914,
+            -630.1351022036265,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            2011.195831834138,
+            -631.6351022036265,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            2008.5977556227847,
+            -633.1351022036265,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            2005.9996794114313,
+            -634.6351022036265,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            2003.401603200078,
+            -636.1351022036265,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            2000.8035269887246,
+            -637.6351022036265,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1998.2054507773712,
+            -639.1351022036265,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1998.2054507773712,
+            -639.1351022036265,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1995.2054507773712,
+            -639.1351022036265,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1992.2054507773712,
+            -639.1351022036265,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1952.0,
+            -648.0,
+            146.448
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-11_10-18-28_1300595513/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_10-18-28_1300595513/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9fbe8e7ac11d3f0405ead5c88cba556ede0bfc5d
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_10-18-28_1300595513/pose.jsonl
@@ -0,0 +1,509 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -635.8016381662186,
+            213.6076729367781,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -634.3016381662186,
+            211.00959672542479,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -632.8016381662186,
+            208.41152051407147,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -631.3016381662186,
+            205.81344430271815,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -629.8016381662186,
+            203.21536809136484,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -628.3016381662186,
+            200.61729188001152,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -626.8016381662186,
+            198.0192156686582,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -625.3016381662186,
+            195.4211394573049,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -623.8016381662186,
+            192.82306324595157,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -622.3016381662186,
+            190.22498703459826,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -620.8016381662186,
+            187.62691082324494,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -619.3016381662186,
+            185.02883461189163,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -619.3016381662186,
+            185.02883461189163,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -619.3016381662186,
+            182.02883461189163,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -619.3016381662186,
+            179.02883461189163,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -619.3016381662186,
+            176.02883461189163,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -619.3016381662186,
+            173.02883461189163,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -619.3016381662186,
+            170.02883461189163,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -619.3016381662186,
+            167.02883461189163,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -619.3016381662186,
+            164.02883461189163,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -619.3016381662186,
+            161.02883461189163,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -619.3016381662186,
+            158.02883461189163,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -619.3016381662186,
+            155.02883461189163,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -619.3016381662186,
+            152.02883461189163,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -619.3016381662186,
+            149.02883461189163,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -619.3016381662186,
+            146.02883461189163,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -619.3016381662186,
+            143.02883461189163,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -619.3016381662186,
+            140.02883461189163,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -619.3016381662186,
+            140.02883461189163,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -619.3016381662186,
+            140.02883461189163,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982989
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -616.7035619548653,
+            138.52883461189163,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -614.105485743512,
+            137.02883461189163,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -611.5074095321586,
+            135.52883461189163,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -608.9093333208052,
+            134.02883461189163,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -606.3112571094518,
+            132.52883461189163,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -606.3112571094518,
+            132.52883461189163,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -604.8112571094518,
+            129.9307584005383,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -603.3112571094518,
+            127.332682189185,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -596.0,
+            108.0,
+            130.693
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-11_10-23-57_43695777/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_10-23-57_43695777/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..68c35354512f83165418343e8fac7e8c7ea519de
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_10-23-57_43695777/pose.jsonl
@@ -0,0 +1,145 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            955.1310406744598,
+            -559.556462716231,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            953.6310406744598,
+            -556.9583865048776,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            952.1310406744598,
+            -554.3603102935242,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            950.6310406744598,
+            -551.7622340821708,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            949.1310406744598,
+            -549.1641578708175,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            947.6310406744598,
+            -546.5660816594641,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            946.1310406744598,
+            -543.9680054481107,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            944.6310406744598,
+            -541.3699292367573,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            943.1310406744598,
+            -538.771853025404,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            941.6310406744598,
+            -536.1737768140506,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            900.0,
+            -444.0,
+            149.898
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-11_10-3-58_1434895504/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_10-3-58_1434895504/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9383e65f73e441167e9ceeabd059bdb98cfee3d2
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_10-3-58_1434895504/pose.jsonl
@@ -0,0 +1,483 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -566.2075598105802,
+            -159.02140940607913,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -569.2075598105802,
+            -159.02140940607913,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -572.2075598105802,
+            -159.02140940607913,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -575.2075598105802,
+            -159.02140940607913,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -578.2075598105802,
+            -159.02140940607913,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -581.2075598105802,
+            -159.02140940607913,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -584.2075598105802,
+            -159.02140940607913,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -587.2075598105802,
+            -159.02140940607913,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -590.2075598105802,
+            -159.02140940607913,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -593.2075598105802,
+            -159.02140940607913,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -596.2075598105802,
+            -159.02140940607913,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -599.2075598105802,
+            -159.02140940607913,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -602.2075598105802,
+            -159.02140940607913,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -605.2075598105802,
+            -159.02140940607913,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -608.2075598105802,
+            -159.02140940607913,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -611.2075598105802,
+            -159.02140940607913,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -614.2075598105802,
+            -159.02140940607913,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -617.2075598105802,
+            -159.02140940607913,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -620.2075598105802,
+            -159.02140940607913,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -623.2075598105802,
+            -159.02140940607913,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -626.2075598105802,
+            -159.02140940607913,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -629.2075598105802,
+            -159.02140940607913,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -632.2075598105802,
+            -159.02140940607913,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -635.2075598105802,
+            -159.02140940607913,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -638.2075598105802,
+            -159.02140940607913,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -641.2075598105802,
+            -159.02140940607913,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -641.2075598105802,
+            -159.02140940607913,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -643.8056360219334,
+            -157.52140940607913,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -646.4037122332868,
+            -156.02140940607913,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -649.0017884446402,
+            -154.52140940607913,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -651.5998646559935,
+            -153.02140940607913,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -654.1979408673469,
+            -151.52140940607913,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -656.7960170787003,
+            -150.02140940607913,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -659.3940932900537,
+            -148.52140940607913,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -661.992169501407,
+            -147.02140940607913,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -664.5902457127604,
+            -145.52140940607913,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -708.0,
+            -136.0,
+            147.579
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-11_10-31-35_217704412/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_10-31-35_217704412/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f9cb001e287a5b0f82b2bea01029e5c87d907598
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_10-31-35_217704412/pose.jsonl
@@ -0,0 +1,548 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            772.4310144949295,
+            -482.2653643455177,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            775.4310144949295,
+            -482.2653643455177,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            778.4310144949295,
+            -482.2653643455177,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            781.4310144949295,
+            -482.2653643455177,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            784.4310144949295,
+            -482.2653643455177,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            787.4310144949295,
+            -482.2653643455177,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            790.4310144949295,
+            -482.2653643455177,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            793.4310144949295,
+            -482.2653643455177,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            796.4310144949295,
+            -482.2653643455177,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            799.4310144949295,
+            -482.2653643455177,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            802.4310144949295,
+            -482.2653643455177,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            805.4310144949295,
+            -482.2653643455177,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            808.4310144949295,
+            -482.2653643455177,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            811.4310144949295,
+            -482.2653643455177,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            814.4310144949295,
+            -482.2653643455177,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            817.4310144949295,
+            -482.2653643455177,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            820.4310144949295,
+            -482.2653643455177,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            820.4310144949295,
+            -482.2653643455177,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            823.0290907062829,
+            -480.7653643455177,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            825.6271669176363,
+            -479.2653643455177,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            828.2252431289896,
+            -477.7653643455177,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            830.823319340343,
+            -476.2653643455177,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            833.4213955516964,
+            -474.7653643455177,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            836.0194717630498,
+            -473.2653643455177,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            838.6175479744031,
+            -471.7653643455177,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            841.2156241857565,
+            -470.2653643455177,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            843.8137003971099,
+            -468.7653643455177,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            846.4117766084632,
+            -467.2653643455177,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            849.0098528198166,
+            -465.7653643455177,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            851.60792903117,
+            -464.2653643455177,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            854.2060052425234,
+            -462.7653643455177,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            856.8040814538767,
+            -461.2653643455177,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            859.4021576652301,
+            -459.7653643455177,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            862.0002338765835,
+            -458.2653643455177,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            864.5983100879369,
+            -456.7653643455177,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            867.1963862992902,
+            -455.2653643455177,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            869.7944625106436,
+            -453.7653643455177,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            872.392538721997,
+            -452.2653643455177,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            874.9906149333503,
+            -450.7653643455177,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            877.5886911447037,
+            -449.2653643455177,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            880.1867673560571,
+            -447.7653643455177,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            900.0,
+            -444.0,
+            149.898
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-11_10-37-39_496612959/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_10-37-39_496612959/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..71efa5f3d87d065d0bf13cdb27db9883e6c7a618
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_10-37-39_496612959/pose.jsonl
@@ -0,0 +1,145 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -33.53706036269449,
+            37.73639879339616,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -32.03706036269449,
+            35.138322582042846,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -30.53706036269449,
+            32.54024637068953,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -29.03706036269449,
+            29.942170159336214,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -27.53706036269449,
+            27.3440939479829,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -26.03706036269449,
+            24.746017736629582,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -26.03706036269449,
+            24.746017736629582,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -26.03706036269449,
+            21.746017736629582,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -26.03706036269449,
+            18.746017736629582,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -26.03706036269449,
+            15.746017736629582,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            8.0,
+            -68.0,
+            154.054
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-11_10-42-23_505631809/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_10-42-23_505631809/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3dd2a931608fec32a070daa5307d21d96a901f71
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_10-42-23_505631809/pose.jsonl
@@ -0,0 +1,457 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1339.1486730608444,
+            352.3804392098468,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1337.6486730608444,
+            354.97851542120014,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1336.1486730608444,
+            357.57659163255346,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1334.6486730608444,
+            360.1746678439068,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1333.1486730608444,
+            362.7727440552601,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1331.6486730608444,
+            365.3708202666134,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1330.1486730608444,
+            367.9688964779667,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1328.6486730608444,
+            370.56697268932004,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1327.1486730608444,
+            373.16504890067336,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1325.6486730608444,
+            375.76312511202667,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1324.1486730608444,
+            378.36120132338,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1322.6486730608444,
+            380.9592775347333,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1321.1486730608444,
+            383.5573537460866,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1319.6486730608444,
+            386.15542995743994,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1318.1486730608444,
+            388.75350616879325,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1316.6486730608444,
+            391.35158238014657,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1315.1486730608444,
+            393.9496585914999,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1313.6486730608444,
+            396.5477348028532,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1312.1486730608444,
+            399.1458110142065,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1310.6486730608444,
+            401.74388722555983,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1309.1486730608444,
+            404.34196343691315,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1307.6486730608444,
+            406.94003964826646,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1306.1486730608444,
+            409.5381158596198,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1304.6486730608444,
+            412.1361920709731,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1303.1486730608444,
+            414.7342682823264,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1301.6486730608444,
+            417.3323444936797,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1300.1486730608444,
+            419.93042070503304,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1298.6486730608444,
+            422.52849691638636,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1298.6486730608444,
+            422.52849691638636,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1298.6486730608444,
+            425.52849691638636,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1298.6486730608444,
+            428.52849691638636,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1298.6486730608444,
+            431.52849691638636,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1298.6486730608444,
+            434.52849691638636,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1298.6486730608444,
+            437.52849691638636,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1288.0,
+            460.0,
+            146.581
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-11_10-49-51_179486052/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_10-49-51_179486052/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..37a6e1a390883f60a3e141652eae7ffcb59f5ff2
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_10-49-51_179486052/pose.jsonl
@@ -0,0 +1,314 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -767.7582420371118,
+            -282.57110198192584,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -766.2582420371118,
+            -279.9730257705725,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -764.7582420371118,
+            -277.3749495592192,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -763.2582420371118,
+            -274.7768733478659,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -761.7582420371118,
+            -272.17879713651257,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -760.2582420371118,
+            -269.58072092515926,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -758.7582420371118,
+            -266.98264471380594,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -757.2582420371118,
+            -264.3845685024526,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -755.7582420371118,
+            -261.7864922910993,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -754.2582420371118,
+            -259.188416079746,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -752.7582420371118,
+            -256.5903398683927,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -751.2582420371118,
+            -253.99226365703936,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -749.7582420371118,
+            -251.39418744568604,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -748.2582420371118,
+            -248.79611123433273,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -746.7582420371118,
+            -246.1980350229794,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -746.7582420371118,
+            -246.1980350229794,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -744.1601658257584,
+            -244.6980350229794,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -741.5620896144051,
+            -243.1980350229794,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -738.9640134030517,
+            -241.6980350229794,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -736.3659371916983,
+            -240.1980350229794,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -733.767860980345,
+            -238.6980350229794,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -733.767860980345,
+            -238.6980350229794,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -732.267860980345,
+            -236.0999588116261,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -708.0,
+            -200.0,
+            147.68
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-11_10-50-43_1212052176/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_10-50-43_1212052176/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..df935d9cd63736041adfbd4b28bf428026b7f80a
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_10-50-43_1212052176/pose.jsonl
@@ -0,0 +1,444 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            818.6911324073494,
+            -1415.130605759624,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            821.6911324073494,
+            -1415.130605759624,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            824.6911324073494,
+            -1415.130605759624,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            827.6911324073494,
+            -1415.130605759624,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            830.6911324073494,
+            -1415.130605759624,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            833.6911324073494,
+            -1415.130605759624,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            836.6911324073494,
+            -1415.130605759624,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            839.6911324073494,
+            -1415.130605759624,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            842.6911324073494,
+            -1415.130605759624,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            845.6911324073494,
+            -1415.130605759624,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            848.6911324073494,
+            -1415.130605759624,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            851.6911324073494,
+            -1415.130605759624,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            854.6911324073494,
+            -1415.130605759624,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            857.6911324073494,
+            -1415.130605759624,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            860.6911324073494,
+            -1415.130605759624,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            863.6911324073494,
+            -1415.130605759624,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            863.6911324073494,
+            -1415.130605759624,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            866.2892086187028,
+            -1416.630605759624,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            868.8872848300562,
+            -1418.130605759624,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            871.4853610414095,
+            -1419.630605759624,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            874.0834372527629,
+            -1421.130605759624,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            876.6815134641163,
+            -1422.630605759624,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            879.2795896754697,
+            -1424.130605759624,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            881.877665886823,
+            -1425.630605759624,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            884.4757420981764,
+            -1427.130605759624,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            887.0738183095298,
+            -1428.630605759624,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            889.6718945208831,
+            -1430.130605759624,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            892.2699707322365,
+            -1431.630605759624,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            894.8680469435899,
+            -1433.130605759624,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            897.4661231549433,
+            -1434.630605759624,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            900.0641993662966,
+            -1436.130605759624,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            902.66227557765,
+            -1437.630605759624,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            905.2603517890034,
+            -1439.130605759624,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            960.0,
+            -1456.0,
+            192.957
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-11_10-51-22_1584251327/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_10-51-22_1584251327/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8126f15031f330993b081551741d05856d8a9fd2
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_10-51-22_1584251327/pose.jsonl
@@ -0,0 +1,392 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -838.2646148585851,
+            -182.84379067598778,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -835.2646148585851,
+            -182.84379067598778,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -832.2646148585851,
+            -182.84379067598778,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -829.2646148585851,
+            -182.84379067598778,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -826.2646148585851,
+            -182.84379067598778,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -823.2646148585851,
+            -182.84379067598778,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -820.2646148585851,
+            -182.84379067598778,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -817.2646148585851,
+            -182.84379067598778,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -814.2646148585851,
+            -182.84379067598778,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -811.2646148585851,
+            -182.84379067598778,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -811.2646148585851,
+            -182.84379067598778,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -808.6665386472318,
+            -181.34379067598778,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -806.0684624358785,
+            -179.84379067598778,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -803.4703862245251,
+            -178.34379067598778,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -800.8723100131717,
+            -176.84379067598778,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -798.2742338018184,
+            -175.34379067598778,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -795.676157590465,
+            -173.84379067598778,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -793.0780813791116,
+            -172.34379067598778,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -790.4800051677582,
+            -170.84379067598778,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -787.8819289564049,
+            -169.34379067598778,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -785.2838527450515,
+            -167.84379067598778,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -782.6857765336981,
+            -166.34379067598778,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -780.0877003223447,
+            -164.84379067598778,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -777.4896241109914,
+            -163.34379067598778,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -774.891547899638,
+            -161.84379067598778,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -772.2934716882846,
+            -160.34379067598778,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -769.6953954769313,
+            -158.84379067598778,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -767.0973192655779,
+            -157.34379067598778,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -764.4992430542245,
+            -155.84379067598778,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -708.0,
+            -136.0,
+            147.579
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-11_10-7-45_1014701101/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_10-7-45_1014701101/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..03b18f8e31fece96e42f41b8be08d70a834e1d89
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_10-7-45_1014701101/pose.jsonl
@@ -0,0 +1,431 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -598.4386069501816,
+            -93.31744582874659,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -598.4386069501816,
+            -96.31744582874659,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -598.4386069501816,
+            -99.31744582874659,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -598.4386069501816,
+            -102.31744582874659,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -598.4386069501816,
+            -105.31744582874659,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -598.4386069501816,
+            -108.31744582874659,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -598.4386069501816,
+            -111.31744582874659,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -598.4386069501816,
+            -114.31744582874659,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -598.4386069501816,
+            -117.31744582874659,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -598.4386069501816,
+            -120.31744582874659,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -598.4386069501816,
+            -123.31744582874659,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -598.4386069501816,
+            -126.31744582874659,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -598.4386069501816,
+            -129.3174458287466,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -598.4386069501816,
+            -132.3174458287466,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -598.4386069501816,
+            -135.3174458287466,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -598.4386069501816,
+            -138.3174458287466,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -598.4386069501816,
+            -141.3174458287466,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -598.4386069501816,
+            -144.3174458287466,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -598.4386069501816,
+            -147.3174458287466,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -598.4386069501816,
+            -150.3174458287466,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -598.4386069501816,
+            -153.3174458287466,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -598.4386069501816,
+            -156.3174458287466,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -598.4386069501816,
+            -159.3174458287466,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -598.4386069501816,
+            -162.3174458287466,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -598.4386069501816,
+            -165.3174458287466,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -598.4386069501816,
+            -168.3174458287466,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -598.4386069501816,
+            -171.3174458287466,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -598.4386069501816,
+            -174.3174458287466,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -598.4386069501816,
+            -177.3174458287466,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -598.4386069501816,
+            -177.3174458287466,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -599.9386069501816,
+            -179.91552204009992,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -601.4386069501816,
+            -182.51359825145323,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -604.0,
+            -216.0,
+            139.826
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-11_11-13-49_366420782/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_11-13-49_366420782/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..75ecc40c9d7a6de83a026e404c0ef18e434ff75c
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_11-13-49_366420782/pose.jsonl
@@ -0,0 +1,223 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1082.0450982170066,
+            315.34108089025307,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1083.5450982170066,
+            317.9391571016064,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1085.0450982170066,
+            320.5372333129597,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1086.5450982170066,
+            323.135309524313,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1088.0450982170066,
+            325.73338573566633,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1089.5450982170066,
+            328.33146194701965,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1091.0450982170066,
+            330.92953815837296,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1092.5450982170066,
+            333.5276143697263,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1094.0450982170066,
+            336.1256905810796,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1095.5450982170066,
+            338.7237667924329,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1097.0450982170066,
+            341.3218430037862,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1098.5450982170066,
+            343.91991921513954,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1100.0450982170066,
+            346.51799542649286,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1100.0450982170066,
+            346.51799542649286,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1100.0450982170066,
+            349.51799542649286,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1100.0450982170066,
+            352.51799542649286,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1128.0,
+            412.0,
+            147.699
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-11_11-21-19_84041882/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_11-21-19_84041882/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5c0f4be7d41cd0b3773d281b6d145ca3b8e1144c
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_11-21-19_84041882/pose.jsonl
@@ -0,0 +1,509 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -839.8218496114828,
+            -62.144656341840744,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -837.2237734001294,
+            -63.644656341840744,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -834.625697188776,
+            -65.14465634184074,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -832.0276209774227,
+            -66.64465634184074,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -829.4295447660693,
+            -68.14465634184074,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -826.8314685547159,
+            -69.64465634184074,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -824.2333923433625,
+            -71.14465634184074,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -821.6353161320092,
+            -72.64465634184074,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -819.0372399206558,
+            -74.14465634184074,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -816.4391637093024,
+            -75.64465634184074,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -813.841087497949,
+            -77.14465634184074,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -811.2430112865957,
+            -78.64465634184074,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -808.6449350752423,
+            -80.14465634184074,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -806.0468588638889,
+            -81.64465634184074,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -803.4487826525356,
+            -83.14465634184074,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -800.8507064411822,
+            -84.64465634184074,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -798.2526302298288,
+            -86.14465634184074,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -795.6545540184754,
+            -87.64465634184074,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -793.0564778071221,
+            -89.14465634184074,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -790.4584015957687,
+            -90.64465634184074,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -787.8603253844153,
+            -92.14465634184074,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -785.262249173062,
+            -93.64465634184074,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -782.6641729617086,
+            -95.14465634184074,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -782.6641729617086,
+            -95.14465634184074,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -781.1641729617086,
+            -97.74273255319406,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -779.6641729617086,
+            -100.34080876454738,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -778.1641729617086,
+            -102.93888497590069,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -776.6641729617086,
+            -105.53696118725401,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -775.1641729617086,
+            -108.13503739860732,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -773.6641729617086,
+            -110.73311360996064,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -772.1641729617086,
+            -113.33118982131396,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -770.6641729617086,
+            -115.92926603266727,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -769.1641729617086,
+            -118.52734224402059,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -767.6641729617086,
+            -121.1254184553739,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -766.1641729617086,
+            -123.72349466672722,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -764.6641729617086,
+            -126.32157087808054,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -763.1641729617086,
+            -128.91964708943385,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -761.6641729617086,
+            -131.51772330078717,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -748.0,
+            -140.0,
+            147.578
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-11_11-21-52_866360494/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_11-21-52_866360494/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..34fa11ad7c06ee2d8324b7049c0203dfa104384c
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_11-21-52_866360494/pose.jsonl
@@ -0,0 +1,483 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1208.2088125737375,
+            -1389.9941470935573,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1205.6107363623842,
+            -1391.4941470935573,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1203.0126601510308,
+            -1392.9941470935573,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1200.4145839396774,
+            -1394.4941470935573,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1197.816507728324,
+            -1395.9941470935573,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1195.2184315169707,
+            -1397.4941470935573,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1192.6203553056173,
+            -1398.9941470935573,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1190.022279094264,
+            -1400.4941470935573,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1187.4242028829105,
+            -1401.9941470935573,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1184.8261266715572,
+            -1403.4941470935573,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1182.2280504602038,
+            -1404.9941470935573,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1179.6299742488504,
+            -1406.4941470935573,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1177.031898037497,
+            -1407.9941470935573,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1174.4338218261437,
+            -1409.4941470935573,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1171.8357456147903,
+            -1410.9941470935573,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1169.237669403437,
+            -1412.4941470935573,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1166.6395931920836,
+            -1413.9941470935573,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1164.0415169807302,
+            -1415.4941470935573,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1161.4434407693768,
+            -1416.9941470935573,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1158.8453645580234,
+            -1418.4941470935573,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1156.24728834667,
+            -1419.9941470935573,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1153.6492121353167,
+            -1421.4941470935573,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1151.0511359239633,
+            -1422.9941470935573,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1148.45305971261,
+            -1424.4941470935573,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1145.8549835012566,
+            -1425.9941470935573,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1143.2569072899032,
+            -1427.4941470935573,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1140.6588310785498,
+            -1428.9941470935573,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1138.0607548671965,
+            -1430.4941470935573,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1135.462678655843,
+            -1431.9941470935573,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1132.8646024444897,
+            -1433.4941470935573,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1130.2665262331363,
+            -1434.9941470935573,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1127.668450021783,
+            -1436.4941470935573,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1125.0703738104296,
+            -1437.9941470935573,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1122.4722975990762,
+            -1439.4941470935573,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1119.8742213877229,
+            -1440.9941470935573,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1117.2761451763695,
+            -1442.4941470935573,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1092.0,
+            -1460.0,
+            192.956
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-11_11-26-22_1508472944/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_11-26-22_1508472944/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..729c4ff1de3b5a46c2b64bc3c46bb26fa5ba4c25
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_11-26-22_1508472944/pose.jsonl
@@ -0,0 +1,405 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -231.9291390384584,
+            -122.35572395761365,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -228.9291390384584,
+            -122.35572395761365,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -225.9291390384584,
+            -122.35572395761365,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -222.9291390384584,
+            -122.35572395761365,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -219.9291390384584,
+            -122.35572395761365,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -216.9291390384584,
+            -122.35572395761365,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -213.9291390384584,
+            -122.35572395761365,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -210.9291390384584,
+            -122.35572395761365,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -207.9291390384584,
+            -122.35572395761365,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -204.9291390384584,
+            -122.35572395761365,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -201.9291390384584,
+            -122.35572395761365,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -198.9291390384584,
+            -122.35572395761365,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -195.9291390384584,
+            -122.35572395761365,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -192.9291390384584,
+            -122.35572395761365,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -189.9291390384584,
+            -122.35572395761365,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -189.9291390384584,
+            -122.35572395761365,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -187.3310628271051,
+            -120.85572395761365,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -184.73298661575177,
+            -119.35572395761365,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -182.13491040439845,
+            -117.85572395761365,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -179.53683419304514,
+            -116.35572395761365,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -176.93875798169182,
+            -114.85572395761365,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -174.3406817703385,
+            -113.35572395761365,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -171.7426055589852,
+            -111.85572395761365,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -169.14452934763187,
+            -110.35572395761365,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -166.54645313627856,
+            -108.85572395761365,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -163.94837692492524,
+            -107.35572395761365,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -161.35030071357193,
+            -105.85572395761365,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -161.35030071357193,
+            -105.85572395761365,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -158.35030071357193,
+            -105.85572395761365,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -155.35030071357193,
+            -105.85572395761365,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -104.0,
+            -96.0,
+            248.592
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-11_11-30-36_905894996/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_11-30-36_905894996/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..052b9056889915534736d0e80ad85407f830d310
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_11-30-36_905894996/pose.jsonl
@@ -0,0 +1,496 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -815.2971085815283,
+            -295.9412016579064,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -813.7971085815283,
+            -293.3431254465531,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -812.2971085815283,
+            -290.74504923519976,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -810.7971085815283,
+            -288.14697302384644,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -809.2971085815283,
+            -285.5488968124931,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -807.7971085815283,
+            -282.9508206011398,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -806.2971085815283,
+            -280.3527443897865,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -804.7971085815283,
+            -277.7546681784332,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -803.2971085815283,
+            -275.15659196707986,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -801.7971085815283,
+            -272.55851575572655,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -800.2971085815283,
+            -269.96043954437323,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -798.7971085815283,
+            -267.3623633330199,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -797.2971085815283,
+            -264.7642871216666,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -795.7971085815283,
+            -262.1662109103133,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -794.2971085815283,
+            -259.56813469895997,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -792.7971085815283,
+            -256.97005848760665,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -791.2971085815283,
+            -254.37198227625333,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -789.7971085815283,
+            -251.77390606490002,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -788.2971085815283,
+            -249.1758298535467,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -786.7971085815283,
+            -246.5777536421934,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -785.2971085815283,
+            -243.97967743084007,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -783.7971085815283,
+            -241.38160121948675,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -782.2971085815283,
+            -238.78352500813344,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -780.7971085815283,
+            -236.18544879678012,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -779.2971085815283,
+            -233.5873725854268,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -777.7971085815283,
+            -230.9892963740735,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -776.2971085815283,
+            -228.39122016272017,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -774.7971085815283,
+            -225.79314395136686,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -773.2971085815283,
+            -223.19506774001354,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -771.7971085815283,
+            -220.59699152866023,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -770.2971085815283,
+            -217.9989153173069,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -768.7971085815283,
+            -215.4008391059536,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -767.2971085815283,
+            -212.80276289460028,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -765.7971085815283,
+            -210.20468668324696,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -765.7971085815283,
+            -210.20468668324696,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -763.199032370175,
+            -208.70468668324696,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -760.6009561588216,
+            -207.20468668324696,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -744.0,
+            -184.0,
+            147.579
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-11_11-37-17_1146810336/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_11-37-17_1146810336/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1373bb8778899d008a2a7751f4b1634f95e7edbf
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_11-37-17_1146810336/pose.jsonl
@@ -0,0 +1,327 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            933.2427901334715,
+            -349.3660867351181,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            931.7427901334715,
+            -351.9641629464714,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            930.2427901334715,
+            -354.5622391578247,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            928.7427901334715,
+            -357.160315369178,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            927.2427901334715,
+            -359.75839158053134,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            925.7427901334715,
+            -362.35646779188465,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            924.2427901334715,
+            -364.95454400323797,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            922.7427901334715,
+            -367.5526202145913,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            921.2427901334715,
+            -370.1506964259446,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            919.7427901334715,
+            -372.7487726372979,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            918.2427901334715,
+            -375.34684884865123,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            916.7427901334715,
+            -377.94492506000455,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            915.2427901334715,
+            -380.54300127135787,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            915.2427901334715,
+            -380.54300127135787,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            915.2427901334715,
+            -383.54300127135787,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            915.2427901334715,
+            -386.54300127135787,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            915.2427901334715,
+            -389.54300127135787,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            915.2427901334715,
+            -392.54300127135787,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            915.2427901334715,
+            -395.54300127135787,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            915.2427901334715,
+            -398.54300127135787,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            915.2427901334715,
+            -401.54300127135787,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            915.2427901334715,
+            -404.54300127135787,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            915.2427901334715,
+            -404.54300127135787,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            913.7427901334715,
+            -407.1410774827112,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            900.0,
+            -444.0,
+            149.898
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-11_11-4-28_63473287/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_11-4-28_63473287/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..343be73dffc5846b60768e9d56d5984331d82d1b
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_11-4-28_63473287/pose.jsonl
@@ -0,0 +1,548 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -671.363979734558,
+            222.13856690261053,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -669.863979734558,
+            219.54049069125722,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -668.363979734558,
+            216.9424144799039,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -666.863979734558,
+            214.3443382685506,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -665.363979734558,
+            211.74626205719727,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -663.863979734558,
+            209.14818584584395,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -662.363979734558,
+            206.55010963449064,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -660.863979734558,
+            203.95203342313732,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -659.363979734558,
+            201.353957211784,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -657.863979734558,
+            198.7558810004307,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -656.363979734558,
+            196.15780478907737,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -654.863979734558,
+            193.55972857772406,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -653.363979734558,
+            190.96165236637074,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -651.863979734558,
+            188.36357615501743,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -650.363979734558,
+            185.7654999436641,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -648.863979734558,
+            183.1674237323108,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -647.363979734558,
+            180.56934752095748,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -645.863979734558,
+            177.97127130960416,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -644.363979734558,
+            175.37319509825085,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -642.863979734558,
+            172.77511888689753,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -641.363979734558,
+            170.17704267554421,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -639.863979734558,
+            167.5789664641909,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -638.363979734558,
+            164.98089025283758,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -636.863979734558,
+            162.38281404148427,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -635.363979734558,
+            159.78473783013095,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -633.863979734558,
+            157.18666161877763,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -632.363979734558,
+            154.58858540742432,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -630.863979734558,
+            151.990509196071,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -629.363979734558,
+            149.3924329847177,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -627.863979734558,
+            146.79435677336437,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -626.363979734558,
+            144.19628056201105,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -624.863979734558,
+            141.59820435065774,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -623.363979734558,
+            139.00012813930442,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -621.863979734558,
+            136.4020519279511,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -620.363979734558,
+            133.8039757165978,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -618.863979734558,
+            131.20589950524447,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -618.863979734558,
+            131.20589950524447,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -616.2659035232048,
+            129.70589950524447,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -613.6678273118514,
+            128.20589950524447,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -611.069751100498,
+            126.70589950524447,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -608.4716748891447,
+            125.20589950524447,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -596.0,
+            108.0,
+            130.693
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-11_11-43-34_1265989390/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_11-43-34_1265989390/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1ce5266d349d6e7bae18f48220dd6cfebf1c6996
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_11-43-34_1265989390/pose.jsonl
@@ -0,0 +1,288 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -902.9635860524584,
+            669.2517320156893,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -905.5616622638117,
+            670.7517320156893,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -908.1597384751651,
+            672.2517320156893,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -910.7578146865185,
+            673.7517320156893,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -913.3558908978719,
+            675.2517320156893,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -915.9539671092252,
+            676.7517320156893,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -918.5520433205786,
+            678.2517320156893,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -921.150119531932,
+            679.7517320156893,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -923.7481957432854,
+            681.2517320156893,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -926.3462719546387,
+            682.7517320156893,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -928.9443481659921,
+            684.2517320156893,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -931.5424243773455,
+            685.7517320156893,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -934.1405005886988,
+            687.2517320156893,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -936.7385768000522,
+            688.7517320156893,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -939.3366530114056,
+            690.2517320156893,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -941.934729222759,
+            691.7517320156893,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -944.5328054341123,
+            693.2517320156893,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -947.1308816454657,
+            694.7517320156893,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -949.7289578568191,
+            696.2517320156893,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -952.3270340681725,
+            697.7517320156893,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -954.9251102795258,
+            699.2517320156893,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1004.0,
+            732.0,
+            143.403
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-11_11-5-12_991742780/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_11-5-12_991742780/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ab083fa215f77c31e3517cd2c5bac81aa6164fec
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_11-5-12_991742780/pose.jsonl
@@ -0,0 +1,626 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1307.5241858436855,
+            -368.9152908713485,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1310.5241858436855,
+            -368.9152908713485,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1313.5241858436855,
+            -368.9152908713485,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1316.5241858436855,
+            -368.9152908713485,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1319.5241858436855,
+            -368.9152908713485,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1322.5241858436855,
+            -368.9152908713485,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1325.5241858436855,
+            -368.9152908713485,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1328.5241858436855,
+            -368.9152908713485,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1331.5241858436855,
+            -368.9152908713485,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1334.5241858436855,
+            -368.9152908713485,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1337.5241858436855,
+            -368.9152908713485,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1340.5241858436855,
+            -368.9152908713485,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1343.5241858436855,
+            -368.9152908713485,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1346.5241858436855,
+            -368.9152908713485,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1349.5241858436855,
+            -368.9152908713485,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1352.5241858436855,
+            -368.9152908713485,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1355.5241858436855,
+            -368.9152908713485,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1358.5241858436855,
+            -368.9152908713485,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1361.5241858436855,
+            -368.9152908713485,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1364.5241858436855,
+            -368.9152908713485,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1367.5241858436855,
+            -368.9152908713485,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1370.5241858436855,
+            -368.9152908713485,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1373.5241858436855,
+            -368.9152908713485,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1376.5241858436855,
+            -368.9152908713485,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1379.5241858436855,
+            -368.9152908713485,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1382.5241858436855,
+            -368.9152908713485,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1385.5241858436855,
+            -368.9152908713485,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1388.5241858436855,
+            -368.9152908713485,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1391.5241858436855,
+            -368.9152908713485,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1394.5241858436855,
+            -368.9152908713485,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1397.5241858436855,
+            -368.9152908713485,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1400.5241858436855,
+            -368.9152908713485,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1400.5241858436855,
+            -368.9152908713485,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1400.5241858436855,
+            -368.9152908713485,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1402.0241858436855,
+            -371.5133670827018,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1403.5241858436855,
+            -374.1114432940551,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1403.5241858436855,
+            -374.1114432940551,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1406.1222620550388,
+            -375.6114432940551,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1408.7203382663922,
+            -377.1114432940551,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1411.3184144777456,
+            -378.6114432940551,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1413.916490689099,
+            -380.1114432940551,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1416.5145669004523,
+            -381.6114432940551,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1419.1126431118057,
+            -383.1114432940551,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1421.710719323159,
+            -384.6114432940551,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1424.3087955345125,
+            -386.1114432940551,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1426.9068717458658,
+            -387.6114432940551,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1429.5049479572192,
+            -389.1114432940551,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1452.0,
+            -396.0,
+            151.137
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-11_11-9-15_1195945229/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_11-9-15_1195945229/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1232a4fa70d82aad59a363f75a7cc1c4a1cd683f
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_11-9-15_1195945229/pose.jsonl
@@ -0,0 +1,405 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -150.04556471265613,
+            563.3151212794855,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -147.04556471265613,
+            563.3151212794855,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -144.04556471265613,
+            563.3151212794855,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -141.04556471265613,
+            563.3151212794855,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -138.04556471265613,
+            563.3151212794855,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -135.04556471265613,
+            563.3151212794855,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -132.04556471265613,
+            563.3151212794855,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -132.04556471265613,
+            563.3151212794855,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -132.04556471265613,
+            563.3151212794855,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -130.54556471265613,
+            565.9131974908389,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -129.04556471265613,
+            568.5112737021923,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -127.54556471265613,
+            571.1093499135457,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -127.54556471265613,
+            571.1093499135457,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -124.94748850130281,
+            572.6093499135457,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -122.3494122899495,
+            574.1093499135457,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -119.75133607859618,
+            575.6093499135457,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -117.15325986724287,
+            577.1093499135457,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -114.55518365588955,
+            578.6093499135457,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -111.95710744453623,
+            580.1093499135457,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -109.35903123318292,
+            581.6093499135457,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -106.7609550218296,
+            583.1093499135457,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -104.16287881047629,
+            584.6093499135457,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -101.56480259912297,
+            586.1093499135457,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -98.96672638776965,
+            587.6093499135457,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -96.36865017641634,
+            589.1093499135457,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -93.77057396506302,
+            590.6093499135457,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -91.1724977537097,
+            592.1093499135457,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -88.57442154235639,
+            593.6093499135457,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -85.97634533100307,
+            595.1093499135457,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -83.37826911964976,
+            596.6093499135457,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -56.0,
+            608.0,
+            306.958
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-11_11-9-34_1443155027/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_11-9-34_1443155027/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d84f9672911d896184ead3ef2bd7d2707cc779bd
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_11-9-34_1443155027/pose.jsonl
@@ -0,0 +1,574 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            2050.690674249685,
+            -758.9005962194401,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            2049.190674249685,
+            -756.3025200080867,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            2047.690674249685,
+            -753.7044437967334,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            2046.190674249685,
+            -751.10636758538,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            2044.690674249685,
+            -748.5082913740266,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            2043.190674249685,
+            -745.9102151626732,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            2041.690674249685,
+            -743.3121389513199,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            2040.190674249685,
+            -740.7140627399665,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            2038.690674249685,
+            -738.1159865286131,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            2037.190674249685,
+            -735.5179103172597,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            2035.690674249685,
+            -732.9198341059064,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            2034.190674249685,
+            -730.321757894553,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            2032.690674249685,
+            -727.7236816831996,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            2031.190674249685,
+            -725.1256054718463,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            2029.690674249685,
+            -722.5275292604929,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            2028.190674249685,
+            -719.9294530491395,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            2026.690674249685,
+            -717.3313768377861,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            2025.190674249685,
+            -714.7333006264328,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            2023.690674249685,
+            -712.1352244150794,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            2022.190674249685,
+            -709.537148203726,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            2020.690674249685,
+            -706.9390719923726,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            2019.190674249685,
+            -704.3409957810193,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            2017.690674249685,
+            -701.7429195696659,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            2016.190674249685,
+            -699.1448433583125,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            2016.190674249685,
+            -699.1448433583125,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            2013.5925980383315,
+            -697.6448433583125,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            2010.9945218269781,
+            -696.1448433583125,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            2008.3964456156248,
+            -694.6448433583125,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            2005.7983694042714,
+            -693.1448433583125,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            2003.200293192918,
+            -691.6448433583125,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            2000.6022169815647,
+            -690.1448433583125,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1998.0041407702113,
+            -688.6448433583125,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1995.406064558858,
+            -687.1448433583125,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1992.8079883475045,
+            -685.6448433583125,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1990.2099121361512,
+            -684.1448433583125,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1987.6118359247978,
+            -682.6448433583125,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1985.0137597134444,
+            -681.1448433583125,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1982.415683502091,
+            -679.6448433583125,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1979.8176072907377,
+            -678.1448433583125,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1977.2195310793843,
+            -676.6448433583125,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1974.621454868031,
+            -675.1448433583125,
+            131.6344676312703
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1974.621454868031,
+            -675.1448433583125,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1973.121454868031,
+            -672.5467671469592,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1952.0,
+            -648.0,
+            146.448
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_gz/astar_data/high_average/2025-1-11_12-15-39_175821956/pose.jsonl b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_12-15-39_175821956/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bdeb32548a930f75c334efa02d52e95a32443cd6
--- /dev/null
+++ b/Image/env_airsim_gz/astar_data/high_average/2025-1-11_12-15-39_175821956/pose.jsonl
@@ -0,0 +1,262 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            981.0305529775154,
+            -531.0353211174883,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            979.5305529775154,
+            -528.437244906135,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            978.0305529775154,
+            -525.8391686947816,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            976.5305529775154,
+            -523.2410924834282,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            975.0305529775154,
+            -520.6430162720749,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            973.5305529775154,
+            -518.0449400607215,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            972.0305529775154,
+            -515.4468638493681,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            970.5305529775154,
+            -512.8487876380148,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            969.0305529775154,
+            -510.25071142666144,
+            131.6344676312703
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            969.0305529775154,
+            -510.25071142666144,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            966.4324767661622,
+            -508.75071142666144,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            963.8344005548088,
+            -507.25071142666144,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            961.2363243434554,
+            -505.75071142666144,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            958.638248132102,
+            -504.25071142666144,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            956.0401719207487,
+            -502.75071142666144,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            953.4420957093953,
+            -501.25071142666144,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            950.8440194980419,
+            -499.75071142666144,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            948.2459432866885,
+            -498.25071142666144,
+            131.6344676312703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            945.6478670753352,
+            -496.75071142666144,
+            131.6344676312703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            900.0,
+            -444.0,
+            149.898
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}