diff --git a/Image/env_airsim_26/astar_data/high_average/2025-01-18_23-53-43_348658/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-01-18_23-53-43_348658/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..71744bd3e9d8491d4c2ae9390d38185ab36422bb
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-01-18_23-53-43_348658/pose.jsonl
@@ -0,0 +1,561 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -608.2717854678621,
+            -1860.55197496012,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -610.8698616792153,
+            -1862.05197496012,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -613.4679378905687,
+            -1863.55197496012,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -616.0660141019221,
+            -1865.05197496012,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -618.6640903132754,
+            -1866.55197496012,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -621.2621665246288,
+            -1868.05197496012,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -623.8602427359822,
+            -1869.55197496012,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -626.4583189473356,
+            -1871.05197496012,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -629.0563951586889,
+            -1872.55197496012,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -631.6544713700423,
+            -1874.05197496012,
+            -211.9525511843355
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -631.6544713700423,
+            -1874.05197496012,
+            -208.9525511843355
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -631.6544713700423,
+            -1874.05197496012,
+            -205.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -634.2525475813957,
+            -1875.55197496012,
+            -205.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -636.850623792749,
+            -1877.05197496012,
+            -205.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -639.4487000041024,
+            -1878.55197496012,
+            -205.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -642.0467762154558,
+            -1880.05197496012,
+            -205.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -644.6448524268092,
+            -1881.55197496012,
+            -205.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -647.2429286381625,
+            -1883.05197496012,
+            -205.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -649.8410048495159,
+            -1884.55197496012,
+            -205.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -652.4390810608693,
+            -1886.05197496012,
+            -205.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -655.0371572722227,
+            -1887.55197496012,
+            -205.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -657.635233483576,
+            -1889.05197496012,
+            -205.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -660.2333096949294,
+            -1890.55197496012,
+            -205.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -662.8313859062828,
+            -1892.05197496012,
+            -205.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -665.4294621176361,
+            -1893.55197496012,
+            -205.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -668.0275383289895,
+            -1895.05197496012,
+            -205.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -670.6256145403429,
+            -1896.55197496012,
+            -205.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -673.2236907516963,
+            -1898.05197496012,
+            -205.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -675.8217669630496,
+            -1899.55197496012,
+            -205.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -678.419843174403,
+            -1901.05197496012,
+            -205.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -678.419843174403,
+            -1901.05197496012,
+            -205.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -679.919843174403,
+            -1903.6500511714735,
+            -205.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -681.419843174403,
+            -1906.2481273828269,
+            -205.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -682.919843174403,
+            -1908.8462035941802,
+            -205.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -684.419843174403,
+            -1911.4442798055336,
+            -205.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -685.919843174403,
+            -1914.042356016887,
+            -205.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -687.419843174403,
+            -1916.6404322282403,
+            -205.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -688.919843174403,
+            -1919.2385084395937,
+            -205.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -690.419843174403,
+            -1921.836584650947,
+            -205.9525511843355
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -690.419843174403,
+            -1921.836584650947,
+            -208.9525511843355
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -690.419843174403,
+            -1921.836584650947,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -691.919843174403,
+            -1924.4346608623005,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -712.0,
+            -1940.0,
+            -205.963
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_0-1-25_410228794/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_0-1-25_410228794/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bcfee0b80181a2afea5e1226e2fc86b18780a86d
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_0-1-25_410228794/pose.jsonl
@@ -0,0 +1,418 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            62.914175160999505,
+            -1842.5316962530803,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            64.4141751609995,
+            -1839.933620041727,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            65.9141751609995,
+            -1837.3355438303736,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            67.4141751609995,
+            -1834.7374676190202,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            67.4141751609995,
+            -1834.7374676190202,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            70.01225137235282,
+            -1833.2374676190202,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            72.61032758370614,
+            -1831.7374676190202,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            75.20840379505945,
+            -1830.2374676190202,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            77.80648000641277,
+            -1828.7374676190202,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            80.40455621776609,
+            -1827.2374676190202,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            83.0026324291194,
+            -1825.7374676190202,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            85.60070864047272,
+            -1824.2374676190202,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            88.19878485182603,
+            -1822.7374676190202,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            90.79686106317935,
+            -1821.2374676190202,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            93.39493727453267,
+            -1819.7374676190202,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            95.99301348588598,
+            -1818.2374676190202,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            98.5910896972393,
+            -1816.7374676190202,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            101.18916590859261,
+            -1815.2374676190202,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            103.78724211994593,
+            -1813.7374676190202,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            106.38531833129925,
+            -1812.2374676190202,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            108.98339454265256,
+            -1810.7374676190202,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            111.58147075400588,
+            -1809.2374676190202,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            114.1795469653592,
+            -1807.7374676190202,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            116.77762317671251,
+            -1806.2374676190202,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            119.37569938806583,
+            -1804.7374676190202,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            121.97377559941914,
+            -1803.2374676190202,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            124.57185181077246,
+            -1801.7374676190202,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            124.57185181077246,
+            -1801.7374676190202,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            126.07185181077246,
+            -1799.1393914076668,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            127.57185181077246,
+            -1796.5413151963135,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            129.07185181077247,
+            -1793.94323898496,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            156.0,
+            -1776.0,
+            -214.057
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_0-18-29_606199759/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_0-18-29_606199759/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..87789fd72eb1255caeff4aed343658a5efefdfd7
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_0-18-29_606199759/pose.jsonl
@@ -0,0 +1,470 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -872.6354574714768,
+            -3046.537790755636,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -874.1354574714768,
+            -3043.9397145442827,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -875.6354574714768,
+            -3041.3416383329295,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -877.1354574714768,
+            -3038.7435621215764,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -878.6354574714768,
+            -3036.145485910223,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -880.1354574714768,
+            -3033.54740969887,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -881.6354574714768,
+            -3030.949333487517,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -883.1354574714768,
+            -3028.351257276164,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -884.6354574714768,
+            -3025.7531810648106,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -886.1354574714768,
+            -3023.1551048534575,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -887.6354574714768,
+            -3020.5570286421043,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -889.1354574714768,
+            -3017.958952430751,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -890.6354574714768,
+            -3015.360876219398,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -892.1354574714768,
+            -3012.762800008045,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -893.6354574714768,
+            -3010.1647237966918,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -895.1354574714768,
+            -3007.5666475853386,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -896.6354574714768,
+            -3004.9685713739855,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -898.1354574714768,
+            -3002.3704951626323,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -899.6354574714768,
+            -2999.772418951279,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -901.1354574714768,
+            -2997.174342739926,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -902.6354574714768,
+            -2994.576266528573,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -904.1354574714768,
+            -2991.9781903172197,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -905.6354574714768,
+            -2989.3801141058666,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -907.1354574714768,
+            -2986.7820378945135,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -908.6354574714768,
+            -2984.1839616831603,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -910.1354574714768,
+            -2981.585885471807,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -911.6354574714768,
+            -2978.987809260454,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -913.1354574714768,
+            -2976.389733049101,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -914.6354574714768,
+            -2973.7916568377477,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -916.1354574714768,
+            -2971.1935806263946,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -917.6354574714768,
+            -2968.5955044150414,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -919.1354574714768,
+            -2965.9974282036883,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -920.6354574714768,
+            -2963.399351992335,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -922.1354574714768,
+            -2960.801275780982,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -923.6354574714768,
+            -2958.203199569629,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -940.0,
+            -2936.0,
+            -205.779
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_0-23-45_216588711/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_0-23-45_216588711/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1bee8746bf09ff8273baf8a0dc4e3f1cb7a5f1d3
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_0-23-45_216588711/pose.jsonl
@@ -0,0 +1,470 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1060.314612748693,
+            -3181.148236193813,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1057.314612748693,
+            -3181.148236193813,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1054.314612748693,
+            -3181.148236193813,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1051.314612748693,
+            -3181.148236193813,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1048.314612748693,
+            -3181.148236193813,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1045.314612748693,
+            -3181.148236193813,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1042.314612748693,
+            -3181.148236193813,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1042.314612748693,
+            -3181.148236193813,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1042.314612748693,
+            -3181.148236193813,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1040.814612748693,
+            -3178.5501599824597,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1039.314612748693,
+            -3175.9520837711066,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1039.314612748693,
+            -3175.9520837711066,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982706
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1036.7165365373396,
+            -3174.4520837711066,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1034.1184603259862,
+            -3172.9520837711066,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1031.5203841146329,
+            -3171.4520837711066,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1028.9223079032795,
+            -3169.9520837711066,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1026.3242316919261,
+            -3168.4520837711066,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1023.7261554805727,
+            -3166.9520837711066,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1021.1280792692194,
+            -3165.4520837711066,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1018.530003057866,
+            -3163.9520837711066,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1015.9319268465126,
+            -3162.4520837711066,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1013.3338506351593,
+            -3160.9520837711066,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1010.7357744238059,
+            -3159.4520837711066,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1008.1376982124525,
+            -3157.9520837711066,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1005.5396220010991,
+            -3156.4520837711066,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1002.9415457897458,
+            -3154.9520837711066,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1000.3434695783924,
+            -3153.4520837711066,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -997.745393367039,
+            -3151.9520837711066,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -995.1473171556856,
+            -3150.4520837711066,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -992.5492409443323,
+            -3148.9520837711066,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -989.9511647329789,
+            -3147.4520837711066,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -987.3530885216255,
+            -3145.9520837711066,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -984.7550123102721,
+            -3144.4520837711066,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -984.7550123102721,
+            -3144.4520837711066,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -9.43689570931383e-15
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -981.7550123102721,
+            -3144.4520837711066,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -9.43689570931383e-15
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -964.0,
+            -3136.0,
+            -205.779
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_0-29-13_765326717/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_0-29-13_765326717/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e4311e1ad581af0d4a20c39dcd8f750175c28476
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_0-29-13_765326717/pose.jsonl
@@ -0,0 +1,418 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -808.8902200314795,
+            -1994.5393396041445,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -806.2921438201263,
+            -1993.0393396041445,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -803.6940676087729,
+            -1991.5393396041445,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -801.0959913974195,
+            -1990.0393396041445,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -798.4979151860662,
+            -1988.5393396041445,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -795.8998389747128,
+            -1987.0393396041445,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -793.3017627633594,
+            -1985.5393396041445,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -790.703686552006,
+            -1984.0393396041445,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -788.1056103406527,
+            -1982.5393396041445,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -785.5075341292993,
+            -1981.0393396041445,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -782.9094579179459,
+            -1979.5393396041445,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -780.3113817065926,
+            -1978.0393396041445,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -777.7133054952392,
+            -1976.5393396041445,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -775.1152292838858,
+            -1975.0393396041445,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -772.5171530725324,
+            -1973.5393396041445,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -769.9190768611791,
+            -1972.0393396041445,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -767.3210006498257,
+            -1970.5393396041445,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -764.7229244384723,
+            -1969.0393396041445,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -762.124848227119,
+            -1967.5393396041445,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -759.5267720157656,
+            -1966.0393396041445,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -756.9286958044122,
+            -1964.5393396041445,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -754.3306195930588,
+            -1963.0393396041445,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -751.7325433817055,
+            -1961.5393396041445,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -749.1344671703521,
+            -1960.0393396041445,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -746.5363909589987,
+            -1958.5393396041445,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -743.9383147476453,
+            -1957.0393396041445,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -741.340238536292,
+            -1955.5393396041445,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -738.7421623249386,
+            -1954.0393396041445,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -736.1440861135852,
+            -1952.5393396041445,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -733.5460099022318,
+            -1951.0393396041445,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -730.9479336908785,
+            -1949.5393396041445,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -712.0,
+            -1940.0,
+            -205.963
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_0-29-51_76593093/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_0-29-51_76593093/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6b22cbe38dc3420a76036960dc95eddb35477cbe
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_0-29-51_76593093/pose.jsonl
@@ -0,0 +1,483 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            493.5881081579667,
+            -1107.5537325518621,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            495.0881081579667,
+            -1110.1518087632155,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            496.5881081579667,
+            -1112.7498849745689,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            498.0881081579667,
+            -1115.3479611859223,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            499.5881081579667,
+            -1117.9460373972756,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            501.0881081579667,
+            -1120.544113608629,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            502.5881081579667,
+            -1123.1421898199824,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            504.0881081579667,
+            -1125.7402660313358,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            505.5881081579667,
+            -1128.3383422426891,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            507.0881081579667,
+            -1130.9364184540425,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            508.5881081579667,
+            -1133.5344946653959,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            510.0881081579667,
+            -1136.1325708767492,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            511.5881081579667,
+            -1138.7306470881026,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            513.0881081579668,
+            -1141.328723299456,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965907
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            514.5881081579668,
+            -1143.9267995108094,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            516.0881081579668,
+            -1146.5248757221627,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            517.5881081579668,
+            -1149.122951933516,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            519.0881081579668,
+            -1151.7210281448695,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            519.0881081579668,
+            -1151.7210281448695,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            519.0881081579668,
+            -1154.7210281448695,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            519.0881081579668,
+            -1157.7210281448695,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            519.0881081579668,
+            -1160.7210281448695,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            519.0881081579668,
+            -1163.7210281448695,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            519.0881081579668,
+            -1166.7210281448695,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            519.0881081579668,
+            -1169.7210281448695,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            519.0881081579668,
+            -1172.7210281448695,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            519.0881081579668,
+            -1175.7210281448695,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            519.0881081579668,
+            -1178.7210281448695,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            519.0881081579668,
+            -1181.7210281448695,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            519.0881081579668,
+            -1184.7210281448695,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            519.0881081579668,
+            -1187.7210281448695,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            519.0881081579668,
+            -1190.7210281448695,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            519.0881081579668,
+            -1193.7210281448695,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            519.0881081579668,
+            -1196.7210281448695,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            519.0881081579668,
+            -1196.7210281448695,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            520.5881081579668,
+            -1199.3191043562229,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            528.0,
+            -1224.0,
+            -203.312
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_0-36-37_1269400346/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_0-36-37_1269400346/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e441237a23853f253c6d61e71e969c64ea3580d0
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_0-36-37_1269400346/pose.jsonl
@@ -0,0 +1,496 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -785.0675049897447,
+            -2050.3471228433027,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -783.5675049897447,
+            -2047.7490466319493,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -782.0675049897447,
+            -2045.150970420596,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -780.5675049897447,
+            -2042.5528942092426,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -779.0675049897447,
+            -2039.9548179978892,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -777.5675049897447,
+            -2037.3567417865358,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -776.0675049897447,
+            -2034.7586655751825,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -774.5675049897447,
+            -2032.160589363829,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -773.0675049897447,
+            -2029.5625131524757,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -771.5675049897447,
+            -2026.9644369411224,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -770.0675049897447,
+            -2024.366360729769,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -768.5675049897447,
+            -2021.7682845184156,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -767.0675049897447,
+            -2019.1702083070622,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -765.5675049897447,
+            -2016.5721320957089,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -764.0675049897447,
+            -2013.9740558843555,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -762.5675049897447,
+            -2011.3759796730021,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -761.0675049897447,
+            -2008.7779034616487,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -759.5675049897447,
+            -2006.1798272502954,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -758.0675049897447,
+            -2003.581751038942,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -756.5675049897447,
+            -2000.9836748275886,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -755.0675049897447,
+            -1998.3855986162353,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -753.5675049897447,
+            -1995.7875224048819,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -752.0675049897447,
+            -1993.1894461935285,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -750.5675049897447,
+            -1990.5913699821751,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -749.0675049897447,
+            -1987.9932937708218,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -747.5675049897447,
+            -1985.3952175594684,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -746.0675049897447,
+            -1982.797141348115,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -744.5675049897447,
+            -1980.1990651367616,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -743.0675049897447,
+            -1977.6009889254083,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -741.5675049897447,
+            -1975.002912714055,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -740.0675049897447,
+            -1972.4048365027015,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -738.5675049897447,
+            -1969.8067602913482,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -738.5675049897447,
+            -1969.8067602913482,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -735.9694287783914,
+            -1968.3067602913482,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -733.371352567038,
+            -1966.8067602913482,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -730.7732763556846,
+            -1965.3067602913482,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -728.1752001443313,
+            -1963.8067602913482,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -712.0,
+            -1940.0,
+            -205.963
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_0-38-51_124666328/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_0-38-51_124666328/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1786c7da77220872dc0bc20460aa3980fcf8bd63
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_0-38-51_124666328/pose.jsonl
@@ -0,0 +1,613 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            99.95911566582734,
+            -1577.7819556533332,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            102.95911566582734,
+            -1577.7819556533332,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            105.95911566582734,
+            -1577.7819556533332,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            108.95911566582734,
+            -1577.7819556533332,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            111.95911566582734,
+            -1577.7819556533332,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            114.95911566582734,
+            -1577.7819556533332,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            117.95911566582734,
+            -1577.7819556533332,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            120.95911566582734,
+            -1577.7819556533332,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            123.95911566582734,
+            -1577.7819556533332,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            126.95911566582734,
+            -1577.7819556533332,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            129.95911566582734,
+            -1577.7819556533332,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            132.95911566582734,
+            -1577.7819556533332,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            135.95911566582734,
+            -1577.7819556533332,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            138.95911566582734,
+            -1577.7819556533332,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            141.95911566582734,
+            -1577.7819556533332,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            144.95911566582734,
+            -1577.7819556533332,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            147.95911566582734,
+            -1577.7819556533332,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            150.95911566582734,
+            -1577.7819556533332,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            153.95911566582734,
+            -1577.7819556533332,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            156.95911566582734,
+            -1577.7819556533332,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            159.95911566582734,
+            -1577.7819556533332,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            162.95911566582734,
+            -1577.7819556533332,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            165.95911566582734,
+            -1577.7819556533332,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            168.95911566582734,
+            -1577.7819556533332,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            171.95911566582734,
+            -1577.7819556533332,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            174.95911566582734,
+            -1577.7819556533332,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            177.95911566582734,
+            -1577.7819556533332,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            180.95911566582734,
+            -1577.7819556533332,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            183.95911566582734,
+            -1577.7819556533332,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            186.95911566582734,
+            -1577.7819556533332,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            189.95911566582734,
+            -1577.7819556533332,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            192.95911566582734,
+            -1577.7819556533332,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            195.95911566582734,
+            -1577.7819556533332,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            198.95911566582734,
+            -1577.7819556533332,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            198.95911566582734,
+            -1577.7819556533332,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            198.95911566582734,
+            -1577.7819556533332,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            200.45911566582734,
+            -1575.1838794419798,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            201.95911566582734,
+            -1572.5858032306264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            203.45911566582734,
+            -1569.987727019273,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            203.45911566582734,
+            -1569.987727019273,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            206.05719187718066,
+            -1568.487727019273,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            208.65526808853397,
+            -1566.987727019273,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            211.2533442998873,
+            -1565.487727019273,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            213.8514205112406,
+            -1563.987727019273,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            216.44949672259392,
+            -1562.487727019273,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            219.04757293394724,
+            -1560.987727019273,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            240.0,
+            -1560.0,
+            -206.55
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_0-43-32_1130698571/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_0-43-32_1130698571/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a33effa57c236a3ce718fc9b47239dbb1a7cbe0f
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_0-43-32_1130698571/pose.jsonl
@@ -0,0 +1,405 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            413.93234355633473,
+            -1147.509943435977,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            411.3342673449814,
+            -1149.009943435977,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            408.7361911336281,
+            -1150.509943435977,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            406.1381149222748,
+            -1152.009943435977,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            403.54003871092146,
+            -1153.509943435977,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            400.94196249956815,
+            -1155.009943435977,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            398.34388628821483,
+            -1156.509943435977,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            395.7458100768615,
+            -1158.009943435977,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            393.1477338655082,
+            -1159.509943435977,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            390.5496576541549,
+            -1161.009943435977,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            387.95158144280157,
+            -1162.509943435977,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            385.35350523144825,
+            -1164.009943435977,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            385.35350523144825,
+            -1164.009943435977,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            383.85350523144825,
+            -1166.6080196473304,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            382.35350523144825,
+            -1169.2060958586837,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            380.85350523144825,
+            -1171.804172070037,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            379.35350523144825,
+            -1174.4022482813905,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            377.85350523144825,
+            -1177.0003244927439,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            376.35350523144825,
+            -1179.5984007040972,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            374.85350523144825,
+            -1182.1964769154506,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            373.35350523144825,
+            -1184.794553126804,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            371.85350523144825,
+            -1187.3926293381573,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            370.35350523144825,
+            -1189.9907055495107,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            368.85350523144825,
+            -1192.588781760864,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            368.85350523144825,
+            -1192.588781760864,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            366.25542902009494,
+            -1194.088781760864,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            363.6573528087416,
+            -1195.588781760864,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            361.0592765973883,
+            -1197.088781760864,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            358.461200386035,
+            -1198.588781760864,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            355.8631241746817,
+            -1200.088781760864,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            332.0,
+            -1220.0,
+            -225.684
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_0-46-40_746349250/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_0-46-40_746349250/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c92a39f5051bac19eecd9c0d16d67e107341a0ec
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_0-46-40_746349250/pose.jsonl
@@ -0,0 +1,574 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1258.0843921971534,
+            -2209.122186826022,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1256.5843921971534,
+            -2211.720263037375,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1255.0843921971534,
+            -2214.318339248728,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1253.5843921971534,
+            -2216.916415460081,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1252.0843921971534,
+            -2219.5144916714344,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1250.5843921971534,
+            -2222.1125678827875,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1249.0843921971534,
+            -2224.7106440941407,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1247.5843921971534,
+            -2227.308720305494,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1246.0843921971534,
+            -2229.906796516847,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1244.5843921971534,
+            -2232.5048727282,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1243.0843921971534,
+            -2235.1029489395532,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1241.5843921971534,
+            -2237.7010251509064,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1240.0843921971534,
+            -2240.2991013622595,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1238.5843921971534,
+            -2242.8971775736127,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1237.0843921971534,
+            -2245.495253784966,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1235.5843921971534,
+            -2248.093329996319,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1234.0843921971534,
+            -2250.691406207672,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1232.5843921971534,
+            -2253.2894824190253,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1231.0843921971534,
+            -2255.8875586303784,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1229.5843921971534,
+            -2258.4856348417316,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1228.0843921971534,
+            -2261.0837110530847,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1226.5843921971534,
+            -2263.681787264438,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1226.5843921971534,
+            -2263.681787264438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982706
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1223.9863159858,
+            -2265.181787264438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1221.3882397744467,
+            -2266.681787264438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1218.7901635630933,
+            -2268.181787264438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1216.19208735174,
+            -2269.681787264438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1213.5940111403866,
+            -2271.181787264438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1210.9959349290332,
+            -2272.681787264438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1208.3978587176798,
+            -2274.181787264438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1205.7997825063264,
+            -2275.681787264438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1203.201706294973,
+            -2277.181787264438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1200.6036300836197,
+            -2278.681787264438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1198.0055538722663,
+            -2280.181787264438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1195.407477660913,
+            -2281.681787264438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1192.8094014495596,
+            -2283.181787264438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1190.2113252382062,
+            -2284.681787264438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1187.6132490268528,
+            -2286.181787264438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1185.0151728154995,
+            -2287.681787264438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1182.417096604146,
+            -2289.181787264438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1179.8190203927927,
+            -2290.681787264438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1177.2209441814393,
+            -2292.181787264438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -1174.622867970086,
+            -2293.681787264438,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1156.0,
+            -2312.0,
+            -213.669
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_0-52-14_1814887560/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_0-52-14_1814887560/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c45c4749addbbb8eabb5dab25212d8cf8fcda666
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_0-52-14_1814887560/pose.jsonl
@@ -0,0 +1,496 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -678.9120235549216,
+            -2341.581864534113,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -678.9120235549216,
+            -2338.581864534113,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -678.9120235549216,
+            -2335.581864534113,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -678.9120235549216,
+            -2332.581864534113,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -678.9120235549216,
+            -2329.581864534113,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -678.9120235549216,
+            -2326.581864534113,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -678.9120235549216,
+            -2323.581864534113,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -678.9120235549216,
+            -2320.581864534113,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -678.9120235549216,
+            -2317.581864534113,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -678.9120235549216,
+            -2314.581864534113,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -678.9120235549216,
+            -2311.581864534113,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -678.9120235549216,
+            -2308.581864534113,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -678.9120235549216,
+            -2305.581864534113,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -678.9120235549216,
+            -2302.581864534113,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -678.9120235549216,
+            -2299.581864534113,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -678.9120235549216,
+            -2296.581864534113,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -678.9120235549216,
+            -2293.581864534113,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -678.9120235549216,
+            -2290.581864534113,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -678.9120235549216,
+            -2287.581864534113,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -678.9120235549216,
+            -2284.581864534113,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -678.9120235549216,
+            -2281.581864534113,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -678.9120235549216,
+            -2278.581864534113,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -678.9120235549216,
+            -2275.581864534113,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -678.9120235549216,
+            -2272.581864534113,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -678.9120235549216,
+            -2269.581864534113,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -678.9120235549216,
+            -2266.581864534113,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -678.9120235549216,
+            -2263.581864534113,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -678.9120235549216,
+            -2260.581864534113,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -678.9120235549216,
+            -2257.581864534113,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -678.9120235549216,
+            -2254.581864534113,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -678.9120235549216,
+            -2251.581864534113,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -678.9120235549216,
+            -2248.581864534113,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -678.9120235549216,
+            -2245.581864534113,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -678.9120235549216,
+            -2242.581864534113,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -678.9120235549216,
+            -2239.581864534113,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -678.9120235549216,
+            -2236.581864534113,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -678.9120235549216,
+            -2233.581864534113,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -680.0,
+            -2208.0,
+            -225.684
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_1-13-49_207621703/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_1-13-49_207621703/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ea7defc034f871e38b36f0801181f2beff50af3c
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_1-13-49_207621703/pose.jsonl
@@ -0,0 +1,561 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -162.45593748026087,
+            -1260.8702267036729,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -159.45593748026087,
+            -1260.8702267036729,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -156.45593748026087,
+            -1260.8702267036729,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -153.45593748026087,
+            -1260.8702267036729,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -150.45593748026087,
+            -1260.8702267036729,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -147.45593748026087,
+            -1260.8702267036729,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -144.45593748026087,
+            -1260.8702267036729,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -141.45593748026087,
+            -1260.8702267036729,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -138.45593748026087,
+            -1260.8702267036729,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -135.45593748026087,
+            -1260.8702267036729,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -132.45593748026087,
+            -1260.8702267036729,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -129.45593748026087,
+            -1260.8702267036729,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -126.45593748026087,
+            -1260.8702267036729,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -123.45593748026087,
+            -1260.8702267036729,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -120.45593748026087,
+            -1260.8702267036729,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -117.45593748026087,
+            -1260.8702267036729,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -114.45593748026087,
+            -1260.8702267036729,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -111.45593748026087,
+            -1260.8702267036729,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -108.45593748026087,
+            -1260.8702267036729,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -105.45593748026087,
+            -1260.8702267036729,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -102.45593748026087,
+            -1260.8702267036729,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -99.45593748026087,
+            -1260.8702267036729,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -96.45593748026087,
+            -1260.8702267036729,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -93.45593748026087,
+            -1260.8702267036729,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -90.45593748026087,
+            -1260.8702267036729,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -90.45593748026087,
+            -1260.8702267036729,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -87.85786126890756,
+            -1259.3702267036729,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -85.25978505755424,
+            -1257.8702267036729,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -82.66170884620092,
+            -1256.3702267036729,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -80.06363263484761,
+            -1254.8702267036729,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -77.46555642349429,
+            -1253.3702267036729,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -74.86748021214098,
+            -1251.8702267036729,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -72.26940400078766,
+            -1250.3702267036729,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -69.67132778943434,
+            -1248.8702267036729,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -67.07325157808103,
+            -1247.3702267036729,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -64.47517536672771,
+            -1245.8702267036729,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -61.877099155374395,
+            -1244.3702267036729,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -59.27902294402108,
+            -1242.8702267036729,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -56.68094673266776,
+            -1241.3702267036729,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -54.08287052131445,
+            -1239.8702267036729,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -51.48479430996113,
+            -1238.3702267036729,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -48.886718098607815,
+            -1236.8702267036729,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -24.0,
+            -1232.0,
+            -213.853
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_1-14-13_2106914653/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_1-14-13_2106914653/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..74283fa8849c4e8c64952863e8631b67ef12da6d
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_1-14-13_2106914653/pose.jsonl
@@ -0,0 +1,496 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            36.53382356009625,
+            -1834.8242962770278,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            39.53382356009625,
+            -1834.8242962770278,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            42.53382356009625,
+            -1834.8242962770278,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            45.53382356009625,
+            -1834.8242962770278,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            48.53382356009625,
+            -1834.8242962770278,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            48.53382356009625,
+            -1834.8242962770278,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            51.13189977144957,
+            -1833.3242962770278,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            53.729975982802884,
+            -1831.8242962770278,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            56.3280521941562,
+            -1830.3242962770278,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            58.926128405509516,
+            -1828.8242962770278,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            61.52420461686283,
+            -1827.3242962770278,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            64.12228082821615,
+            -1825.8242962770278,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            66.72035703956946,
+            -1824.3242962770278,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            69.31843325092278,
+            -1822.8242962770278,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            71.9165094622761,
+            -1821.3242962770278,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            74.51458567362941,
+            -1819.8242962770278,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            77.11266188498273,
+            -1818.3242962770278,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            79.71073809633604,
+            -1816.8242962770278,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            82.30881430768936,
+            -1815.3242962770278,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            84.90689051904268,
+            -1813.8242962770278,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            87.50496673039599,
+            -1812.3242962770278,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            90.10304294174931,
+            -1810.8242962770278,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            92.70111915310262,
+            -1809.3242962770278,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            95.29919536445594,
+            -1807.8242962770278,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            97.89727157580926,
+            -1806.3242962770278,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            100.49534778716257,
+            -1804.8242962770278,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            103.09342399851589,
+            -1803.3242962770278,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            105.6915002098692,
+            -1801.8242962770278,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            108.28957642122252,
+            -1800.3242962770278,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            110.88765263257584,
+            -1798.8242962770278,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            113.48572884392915,
+            -1797.3242962770278,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            116.08380505528247,
+            -1795.8242962770278,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            118.68188126663578,
+            -1794.3242962770278,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            121.2799574779891,
+            -1792.8242962770278,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            123.87803368934242,
+            -1791.3242962770278,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            126.47610990069573,
+            -1789.8242962770278,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            129.07418611204906,
+            -1788.3242962770278,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            156.0,
+            -1776.0,
+            -214.057
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_1-17-3_1289547084/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_1-17-3_1289547084/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..97e5f2c2a3cf3e81954bee951d792d2241bb30a4
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_1-17-3_1289547084/pose.jsonl
@@ -0,0 +1,249 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            497.76392792285094,
+            -2283.0183163617216,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            496.26392792285094,
+            -2280.4202401503685,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            494.76392792285094,
+            -2277.8221639390154,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            493.26392792285094,
+            -2275.224087727662,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            491.76392792285094,
+            -2272.626011516309,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            490.26392792285094,
+            -2270.027935304956,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            488.76392792285094,
+            -2267.4298590936028,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            487.26392792285094,
+            -2264.8317828822496,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            485.76392792285094,
+            -2262.2337066708965,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            484.26392792285094,
+            -2259.6356304595433,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            482.76392792285094,
+            -2257.03755424819,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            481.26392792285094,
+            -2254.439478036837,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            479.76392792285094,
+            -2251.841401825484,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            478.26392792285094,
+            -2249.2433256141308,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            476.76392792285094,
+            -2246.6452494027776,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            476.76392792285094,
+            -2246.6452494027776,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915224
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            474.1658517114976,
+            -2245.1452494027776,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            471.5677755001443,
+            -2243.6452494027776,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            440.0,
+            -2200.0,
+            -205.967
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_1-18-1_811742698/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_1-18-1_811742698/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..16e4dbcc96b71b2d2e44975b452a01dc34ec4ce8
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_1-18-1_811742698/pose.jsonl
@@ -0,0 +1,470 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -833.7117540462388,
+            -1939.6655194732461,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -830.7117540462388,
+            -1939.6655194732461,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -827.7117540462388,
+            -1939.6655194732461,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -824.7117540462388,
+            -1939.6655194732461,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -821.7117540462388,
+            -1939.6655194732461,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -818.7117540462388,
+            -1939.6655194732461,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -815.7117540462388,
+            -1939.6655194732461,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -812.7117540462388,
+            -1939.6655194732461,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -809.7117540462388,
+            -1939.6655194732461,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -806.7117540462388,
+            -1939.6655194732461,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -803.7117540462388,
+            -1939.6655194732461,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -800.7117540462388,
+            -1939.6655194732461,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -797.7117540462388,
+            -1939.6655194732461,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -794.7117540462388,
+            -1939.6655194732461,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -791.7117540462388,
+            -1939.6655194732461,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -788.7117540462388,
+            -1939.6655194732461,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -785.7117540462388,
+            -1939.6655194732461,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -782.7117540462388,
+            -1939.6655194732461,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -779.7117540462388,
+            -1939.6655194732461,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -776.7117540462388,
+            -1939.6655194732461,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -773.7117540462388,
+            -1939.6655194732461,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -770.7117540462388,
+            -1939.6655194732461,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -767.7117540462388,
+            -1939.6655194732461,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -764.7117540462388,
+            -1939.6655194732461,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -761.7117540462388,
+            -1939.6655194732461,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -758.7117540462388,
+            -1939.6655194732461,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -755.7117540462388,
+            -1939.6655194732461,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -752.7117540462388,
+            -1939.6655194732461,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -749.7117540462388,
+            -1939.6655194732461,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -746.7117540462388,
+            -1939.6655194732461,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -743.7117540462388,
+            -1939.6655194732461,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -740.7117540462388,
+            -1939.6655194732461,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -737.7117540462388,
+            -1939.6655194732461,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -734.7117540462388,
+            -1939.6655194732461,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -731.7117540462388,
+            -1939.6655194732461,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -712.0,
+            -1940.0,
+            -205.963
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_1-21-52_1649709016/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_1-21-52_1649709016/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a981a3c5a34eda95e1ceee046292e86ce0cef6fd
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_1-21-52_1649709016/pose.jsonl
@@ -0,0 +1,574 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1050.1048146456333,
+            -2861.034072954645,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1047.1048146456333,
+            -2861.034072954645,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1044.1048146456333,
+            -2861.034072954645,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1041.1048146456333,
+            -2861.034072954645,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1038.1048146456333,
+            -2861.034072954645,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1038.1048146456333,
+            -2861.034072954645,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1038.1048146456333,
+            -2861.034072954645,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1036.6048146456333,
+            -2863.6321491659983,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1035.1048146456333,
+            -2866.2302253773514,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1033.6048146456333,
+            -2868.8283015887046,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1032.1048146456333,
+            -2871.4263778000577,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1030.6048146456333,
+            -2874.024454011411,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1029.1048146456333,
+            -2876.622530222764,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1027.6048146456333,
+            -2879.220606434117,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1026.1048146456333,
+            -2881.8186826454703,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1024.6048146456333,
+            -2884.4167588568234,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1024.6048146456333,
+            -2884.4167588568234,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982706
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1022.0067384342799,
+            -2885.9167588568234,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1019.4086622229265,
+            -2887.4167588568234,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1016.8105860115732,
+            -2888.9167588568234,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1014.2125098002198,
+            -2890.4167588568234,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1011.6144335888664,
+            -2891.9167588568234,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1009.016357377513,
+            -2893.4167588568234,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1006.4182811661597,
+            -2894.9167588568234,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1003.8202049548063,
+            -2896.4167588568234,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1001.2221287434529,
+            -2897.9167588568234,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -998.6240525320995,
+            -2899.4167588568234,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -996.0259763207462,
+            -2900.9167588568234,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -993.4279001093928,
+            -2902.4167588568234,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -990.8298238980394,
+            -2903.9167588568234,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -988.231747686686,
+            -2905.4167588568234,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -985.6336714753327,
+            -2906.9167588568234,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -983.0355952639793,
+            -2908.4167588568234,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -980.4375190526259,
+            -2909.9167588568234,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -977.8394428412726,
+            -2911.4167588568234,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -975.2413666299192,
+            -2912.9167588568234,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -972.6432904185658,
+            -2914.4167588568234,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -970.0452142072124,
+            -2915.9167588568234,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -967.4471379958591,
+            -2917.4167588568234,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -964.8490617845057,
+            -2918.9167588568234,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -962.2509855731523,
+            -2920.4167588568234,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -959.652909361799,
+            -2921.9167588568234,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -957.0548331504456,
+            -2923.4167588568234,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -940.0,
+            -2936.0,
+            -205.779
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_1-25-37_1395405989/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_1-25-37_1395405989/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1d4e86d8c09377557a62b2244de5f97537fdb891
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_1-25-37_1395405989/pose.jsonl
@@ -0,0 +1,548 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -825.3031263176323,
+            -3117.842418259919,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -828.3031263176323,
+            -3117.842418259919,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -831.3031263176323,
+            -3117.842418259919,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -834.3031263176323,
+            -3117.842418259919,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -837.3031263176323,
+            -3117.842418259919,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -840.3031263176323,
+            -3117.842418259919,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -843.3031263176323,
+            -3117.842418259919,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -846.3031263176323,
+            -3117.842418259919,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -849.3031263176323,
+            -3117.842418259919,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -852.3031263176323,
+            -3117.842418259919,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -855.3031263176323,
+            -3117.842418259919,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -858.3031263176323,
+            -3117.842418259919,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -861.3031263176323,
+            -3117.842418259919,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -864.3031263176323,
+            -3117.842418259919,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -867.3031263176323,
+            -3117.842418259919,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -870.3031263176323,
+            -3117.842418259919,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -873.3031263176323,
+            -3117.842418259919,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -876.3031263176323,
+            -3117.842418259919,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -879.3031263176323,
+            -3117.842418259919,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -882.3031263176323,
+            -3117.842418259919,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -885.3031263176323,
+            -3117.842418259919,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -888.3031263176323,
+            -3117.842418259919,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -891.3031263176323,
+            -3117.842418259919,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -894.3031263176323,
+            -3117.842418259919,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -897.3031263176323,
+            -3117.842418259919,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -900.3031263176323,
+            -3117.842418259919,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -903.3031263176323,
+            -3117.842418259919,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -906.3031263176323,
+            -3117.842418259919,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -909.3031263176323,
+            -3117.842418259919,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -912.3031263176323,
+            -3117.842418259919,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -912.3031263176323,
+            -3117.842418259919,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -914.9012025289856,
+            -3119.342418259919,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -917.4992787403389,
+            -3120.842418259919,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -920.0973549516923,
+            -3122.342418259919,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -922.6954311630457,
+            -3123.842418259919,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -925.293507374399,
+            -3125.342418259919,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -927.8915835857524,
+            -3126.842418259919,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -930.4896597971058,
+            -3128.342418259919,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -933.0877360084592,
+            -3129.842418259919,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -935.6858122198125,
+            -3131.342418259919,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -938.2838884311659,
+            -3132.842418259919,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -964.0,
+            -3136.0,
+            -205.779
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_1-30-44_833215350/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_1-30-44_833215350/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a7a4e3ee13856d65f0358f6c0bc62afad50549d8
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_1-30-44_833215350/pose.jsonl
@@ -0,0 +1,431 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -694.8030692349889,
+            -2048.596692005344,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -694.8030692349889,
+            -2045.5966920053438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -694.8030692349889,
+            -2042.5966920053438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -694.8030692349889,
+            -2039.5966920053438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -694.8030692349889,
+            -2036.5966920053438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -694.8030692349889,
+            -2033.5966920053438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -694.8030692349889,
+            -2030.5966920053438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -694.8030692349889,
+            -2027.5966920053438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -694.8030692349889,
+            -2024.5966920053438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -694.8030692349889,
+            -2021.5966920053438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -694.8030692349889,
+            -2018.5966920053438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -694.8030692349889,
+            -2015.5966920053438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -694.8030692349889,
+            -2012.5966920053438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -694.8030692349889,
+            -2009.5966920053438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -694.8030692349889,
+            -2006.5966920053438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -694.8030692349889,
+            -2003.5966920053438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -694.8030692349889,
+            -2000.5966920053438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -694.8030692349889,
+            -1997.5966920053438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -694.8030692349889,
+            -1994.5966920053438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -694.8030692349889,
+            -1991.5966920053438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -694.8030692349889,
+            -1988.5966920053438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -694.8030692349889,
+            -1985.5966920053438,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -694.8030692349889,
+            -1985.5966920053438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -696.3030692349889,
+            -1982.9986157939904,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -697.8030692349889,
+            -1980.400539582637,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -699.3030692349889,
+            -1977.8024633712837,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -700.8030692349889,
+            -1975.2043871599303,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -702.3030692349889,
+            -1972.606310948577,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -703.8030692349889,
+            -1970.0082347372236,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -705.3030692349889,
+            -1967.4101585258702,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -706.8030692349889,
+            -1964.8120823145168,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -708.3030692349889,
+            -1962.2140061031635,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -712.0,
+            -1940.0,
+            -205.963
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_1-35-28_1735079296/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_1-35-28_1735079296/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..43002608ddd8518a79c88d2baaa9c648ea7a0460
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_1-35-28_1735079296/pose.jsonl
@@ -0,0 +1,418 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -154.0206214157805,
+            -1673.384846993538,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -154.0206214157805,
+            -1670.384846993538,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -154.0206214157805,
+            -1667.384846993538,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -154.0206214157805,
+            -1664.384846993538,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -154.0206214157805,
+            -1661.384846993538,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -154.0206214157805,
+            -1658.384846993538,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -154.0206214157805,
+            -1655.384846993538,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -154.0206214157805,
+            -1652.384846993538,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -154.0206214157805,
+            -1649.384846993538,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -154.0206214157805,
+            -1646.384846993538,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -154.0206214157805,
+            -1643.384846993538,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -154.0206214157805,
+            -1640.384846993538,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -154.0206214157805,
+            -1637.384846993538,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -154.0206214157805,
+            -1634.384846993538,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -154.0206214157805,
+            -1631.384846993538,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -154.0206214157805,
+            -1628.384846993538,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -154.0206214157805,
+            -1628.384846993538,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -155.5206214157805,
+            -1625.7867707821847,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -157.0206214157805,
+            -1623.1886945708313,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -158.5206214157805,
+            -1620.590618359478,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -160.0206214157805,
+            -1617.9925421481246,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -161.5206214157805,
+            -1615.3944659367712,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -163.0206214157805,
+            -1612.7963897254178,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -164.5206214157805,
+            -1610.1983135140645,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -166.0206214157805,
+            -1607.600237302711,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -167.5206214157805,
+            -1605.0021610913577,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -169.0206214157805,
+            -1602.4040848800043,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -170.5206214157805,
+            -1599.806008668651,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -172.0206214157805,
+            -1597.2079324572976,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -172.0206214157805,
+            -1597.2079324572976,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -172.0206214157805,
+            -1594.2079324572976,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948872
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -180.0,
+            -1556.0,
+            -205.885
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_1-45-35_1030313563/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_1-45-35_1030313563/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2d151b404664bab0d0aaa74f86759f81f0215b69
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_1-45-35_1030313563/pose.jsonl
@@ -0,0 +1,457 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -614.25006327768,
+            -1809.9708402975177,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -616.8481394890334,
+            -1811.4708402975177,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -619.4462157003868,
+            -1812.9708402975177,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -622.0442919117402,
+            -1814.4708402975177,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -624.6423681230935,
+            -1815.9708402975177,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -627.2404443344469,
+            -1817.4708402975177,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -629.8385205458003,
+            -1818.9708402975177,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -632.4365967571537,
+            -1820.4708402975177,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -635.034672968507,
+            -1821.9708402975177,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -637.6327491798604,
+            -1823.4708402975177,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -640.2308253912138,
+            -1824.9708402975177,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -642.8289016025672,
+            -1826.4708402975177,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -645.4269778139205,
+            -1827.9708402975177,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -648.0250540252739,
+            -1829.4708402975177,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -650.6231302366273,
+            -1830.9708402975177,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -653.2212064479806,
+            -1832.4708402975177,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -655.819282659334,
+            -1833.9708402975177,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -655.819282659334,
+            -1833.9708402975177,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -657.319282659334,
+            -1836.568916508871,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -658.819282659334,
+            -1839.1669927202245,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -660.319282659334,
+            -1841.7650689315778,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -661.819282659334,
+            -1844.3631451429312,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -663.319282659334,
+            -1846.9612213542846,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -664.819282659334,
+            -1849.559297565638,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -666.319282659334,
+            -1852.1573737769913,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -667.819282659334,
+            -1854.7554499883447,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -669.319282659334,
+            -1857.353526199698,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -670.819282659334,
+            -1859.9516024110515,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -672.319282659334,
+            -1862.5496786224048,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -673.819282659334,
+            -1865.1477548337582,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -675.319282659334,
+            -1867.7458310451116,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -676.819282659334,
+            -1870.343907256465,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -678.319282659334,
+            -1872.9419834678183,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -679.819282659334,
+            -1875.5400596791717,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -704.0,
+            -1896.0,
+            -203.555
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_1-5-8_1312630443/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_1-5-8_1312630443/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0154ae762e235b3bc1c3c59bb619ab0507313a3e
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_1-5-8_1312630443/pose.jsonl
@@ -0,0 +1,392 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -233.39441833948337,
+            -1355.1235334507783,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -234.89441833948337,
+            -1357.7216096621316,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -236.39441833948337,
+            -1360.319685873485,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -237.89441833948337,
+            -1362.9177620848384,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -239.39441833948337,
+            -1365.5158382961918,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -240.89441833948337,
+            -1368.1139145075451,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -242.39441833948337,
+            -1370.7119907188985,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -243.89441833948337,
+            -1373.3100669302519,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -245.39441833948337,
+            -1375.9081431416053,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -246.89441833948337,
+            -1378.5062193529586,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -248.39441833948337,
+            -1381.104295564312,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -249.89441833948337,
+            -1383.7023717756654,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -251.39441833948337,
+            -1386.3004479870187,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -252.89441833948337,
+            -1388.8985241983721,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -254.39441833948337,
+            -1391.4966004097255,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -255.89441833948337,
+            -1394.0946766210789,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -257.39441833948337,
+            -1396.6927528324322,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -258.89441833948337,
+            -1399.2908290437856,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -260.39441833948337,
+            -1401.888905255139,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -261.89441833948337,
+            -1404.4869814664924,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -261.89441833948337,
+            -1404.4869814664924,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -261.89441833948337,
+            -1407.4869814664924,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -261.89441833948337,
+            -1410.4869814664924,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -261.89441833948337,
+            -1413.4869814664924,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -261.89441833948337,
+            -1416.4869814664924,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -261.89441833948337,
+            -1419.4869814664924,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -261.89441833948337,
+            -1422.4869814664924,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -261.89441833948337,
+            -1425.4869814664924,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -261.89441833948337,
+            -1428.4869814664924,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -268.0,
+            -1452.0,
+            -201.911
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_1-51-33_1351538839/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_1-51-33_1351538839/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2d7a94103ba66b8dcd10b6a49a3c75b79c372a25
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_1-51-33_1351538839/pose.jsonl
@@ -0,0 +1,509 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            101.98029769054011,
+            -1302.2601765579102,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            99.3822214791868,
+            -1300.7601765579102,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            96.78414526783348,
+            -1299.2601765579102,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            94.18606905648016,
+            -1297.7601765579102,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            91.58799284512685,
+            -1296.2601765579102,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            88.98991663377353,
+            -1294.7601765579102,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            86.39184042242022,
+            -1293.2601765579102,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            83.7937642110669,
+            -1291.7601765579102,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            81.19568799971358,
+            -1290.2601765579102,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            78.59761178836027,
+            -1288.7601765579102,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            75.99953557700695,
+            -1287.2601765579102,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            73.40145936565364,
+            -1285.7601765579102,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            70.80338315430032,
+            -1284.2601765579102,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            68.205306942947,
+            -1282.7601765579102,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            65.60723073159369,
+            -1281.2601765579102,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            63.00915452024037,
+            -1279.7601765579102,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            60.411078308887056,
+            -1278.2601765579102,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            57.81300209753374,
+            -1276.7601765579102,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            55.214925886180424,
+            -1275.2601765579102,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            52.61684967482711,
+            -1273.7601765579102,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            50.01877346347379,
+            -1272.2601765579102,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            47.420697252120476,
+            -1270.7601765579102,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            44.82262104076716,
+            -1269.2601765579102,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            42.224544829413844,
+            -1267.7601765579102,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            39.62646861806053,
+            -1266.2601765579102,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            37.02839240670721,
+            -1264.7601765579102,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            34.430316195353896,
+            -1263.2601765579102,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            31.83223998400058,
+            -1261.7601765579102,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            29.234163772647264,
+            -1260.2601765579102,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            26.636087561293948,
+            -1258.7601765579102,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            24.038011349940632,
+            -1257.2601765579102,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            21.439935138587316,
+            -1255.7601765579102,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            18.841858927234,
+            -1254.2601765579102,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            16.243782715880684,
+            -1252.7601765579102,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            13.645706504527368,
+            -1251.2601765579102,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            11.047630293174052,
+            -1249.7601765579102,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            8.449554081820736,
+            -1248.2601765579102,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            5.85147787046742,
+            -1246.7601765579102,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -24.0,
+            -1232.0,
+            -213.853
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_1-53-28_1326247643/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_1-53-28_1326247643/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e7f0495bd3dca457c716983a5661b18416fd020f
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_1-53-28_1326247643/pose.jsonl
@@ -0,0 +1,483 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            646.6355588471358,
+            -1291.68044308193,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            644.0374826357825,
+            -1290.18044308193,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            641.4394064244291,
+            -1288.68044308193,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            638.8413302130757,
+            -1287.18044308193,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            636.2432540017223,
+            -1285.68044308193,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            633.645177790369,
+            -1284.18044308193,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            631.0471015790156,
+            -1282.68044308193,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            628.4490253676622,
+            -1281.18044308193,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            625.8509491563088,
+            -1279.68044308193,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            623.2528729449555,
+            -1278.18044308193,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            620.6547967336021,
+            -1276.68044308193,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            618.0567205222487,
+            -1275.18044308193,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            615.4586443108954,
+            -1273.68044308193,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            612.860568099542,
+            -1272.18044308193,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            610.2624918881886,
+            -1270.68044308193,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            607.6644156768352,
+            -1269.18044308193,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            605.0663394654819,
+            -1267.68044308193,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            602.4682632541285,
+            -1266.18044308193,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            599.8701870427751,
+            -1264.68044308193,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            597.2721108314217,
+            -1263.18044308193,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            594.6740346200684,
+            -1261.68044308193,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            592.075958408715,
+            -1260.18044308193,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            589.4778821973616,
+            -1258.68044308193,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            586.8798059860083,
+            -1257.18044308193,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            584.2817297746549,
+            -1255.68044308193,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            581.6836535633015,
+            -1254.18044308193,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            579.0855773519481,
+            -1252.68044308193,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            576.4875011405948,
+            -1251.18044308193,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            573.8894249292414,
+            -1249.68044308193,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            571.291348717888,
+            -1248.18044308193,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            568.6932725065346,
+            -1246.68044308193,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            566.0951962951813,
+            -1245.18044308193,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            563.4971200838279,
+            -1243.68044308193,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            560.8990438724745,
+            -1242.18044308193,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            558.3009676611211,
+            -1240.68044308193,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            555.7028914497678,
+            -1239.18044308193,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            528.0,
+            -1224.0,
+            -203.312
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_1-55-49_384370888/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_1-55-49_384370888/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0b4eb6502159dd7316c367ed5793f996611ed479
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_1-55-49_384370888/pose.jsonl
@@ -0,0 +1,379 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            561.6623522320739,
+            -1322.2042552653995,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            560.1623522320739,
+            -1319.6061790540462,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            558.6623522320739,
+            -1317.0081028426928,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            557.1623522320739,
+            -1314.4100266313394,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            555.6623522320739,
+            -1311.811950419986,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            554.1623522320739,
+            -1309.2138742086327,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            552.6623522320739,
+            -1306.6157979972793,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            551.1623522320739,
+            -1304.017721785926,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            549.6623522320739,
+            -1301.4196455745725,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            548.1623522320739,
+            -1298.8215693632192,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            546.6623522320739,
+            -1296.2234931518658,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            545.1623522320739,
+            -1293.6254169405124,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            543.6623522320739,
+            -1291.027340729159,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            542.1623522320739,
+            -1288.4292645178057,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            540.6623522320739,
+            -1285.8311883064523,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            539.1623522320739,
+            -1283.233112095099,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            537.6623522320739,
+            -1280.6350358837456,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            537.6623522320739,
+            -1280.6350358837456,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            537.6623522320739,
+            -1277.6350358837456,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            537.6623522320739,
+            -1274.6350358837456,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            537.6623522320739,
+            -1271.6350358837456,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            537.6623522320739,
+            -1268.6350358837456,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            537.6623522320739,
+            -1265.6350358837456,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            537.6623522320739,
+            -1262.6350358837456,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            537.6623522320739,
+            -1259.6350358837456,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            537.6623522320739,
+            -1256.6350358837456,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            537.6623522320739,
+            -1253.6350358837456,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            537.6623522320739,
+            -1250.6350358837456,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            528.0,
+            -1224.0,
+            -203.312
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_1-56-6_772634225/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_1-56-6_772634225/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..78dc7787d54624881df3ef8abc75258214b92586
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_1-56-6_772634225/pose.jsonl
@@ -0,0 +1,470 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            556.5276743571599,
+            -1448.9388065336188,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            558.0276743571599,
+            -1446.3407303222655,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            559.5276743571599,
+            -1443.742654110912,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            561.0276743571599,
+            -1441.1445778995587,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            562.5276743571599,
+            -1438.5465016882054,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            564.0276743571599,
+            -1435.948425476852,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            565.5276743571599,
+            -1433.3503492654986,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            567.0276743571599,
+            -1430.7522730541452,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            568.5276743571599,
+            -1428.1541968427919,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            570.0276743571599,
+            -1425.5561206314385,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            571.5276743571599,
+            -1422.9580444200851,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            573.0276743571599,
+            -1420.3599682087317,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            574.5276743571599,
+            -1417.7618919973784,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            576.0276743571599,
+            -1415.163815786025,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            577.5276743571599,
+            -1412.5657395746716,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            579.0276743571599,
+            -1409.9676633633183,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            580.5276743571599,
+            -1407.3695871519649,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            582.0276743571599,
+            -1404.7715109406115,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            583.5276743571599,
+            -1402.1734347292581,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            585.0276743571599,
+            -1399.5753585179048,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            585.0276743571599,
+            -1399.5753585179048,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            587.6257505685132,
+            -1398.0753585179048,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            590.2238267798666,
+            -1396.5753585179048,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            592.82190299122,
+            -1395.0753585179048,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            595.4199792025734,
+            -1393.5753585179048,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            598.0180554139267,
+            -1392.0753585179048,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            600.6161316252801,
+            -1390.5753585179048,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            603.2142078366335,
+            -1389.0753585179048,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            605.8122840479869,
+            -1387.5753585179048,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            608.4103602593402,
+            -1386.0753585179048,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            611.0084364706936,
+            -1384.5753585179048,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            613.606512682047,
+            -1383.0753585179048,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            616.2045888934003,
+            -1381.5753585179048,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            618.8026651047537,
+            -1380.0753585179048,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            621.4007413161071,
+            -1378.5753585179048,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            640.0,
+            -1360.0,
+            -201.594
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_1-6-34_356684278/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_1-6-34_356684278/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..57c9ff231a55063c4b4ada0b31da6af5e59ba378
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_1-6-34_356684278/pose.jsonl
@@ -0,0 +1,340 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -560.2467431997229,
+            -1919.963794875824,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -563.2467431997229,
+            -1919.963794875824,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -566.2467431997229,
+            -1919.963794875824,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -569.2467431997229,
+            -1919.963794875824,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -572.2467431997229,
+            -1919.963794875824,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -575.2467431997229,
+            -1919.963794875824,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -578.2467431997229,
+            -1919.963794875824,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -581.2467431997229,
+            -1919.963794875824,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -584.2467431997229,
+            -1919.963794875824,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -587.2467431997229,
+            -1919.963794875824,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -590.2467431997229,
+            -1919.963794875824,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -593.2467431997229,
+            -1919.963794875824,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -596.2467431997229,
+            -1919.963794875824,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -599.2467431997229,
+            -1919.963794875824,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -602.2467431997229,
+            -1919.963794875824,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -605.2467431997229,
+            -1919.963794875824,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -608.2467431997229,
+            -1919.963794875824,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -608.2467431997229,
+            -1919.963794875824,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -610.8448194110763,
+            -1918.463794875824,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -613.4428956224297,
+            -1916.963794875824,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -616.040971833783,
+            -1915.463794875824,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -618.6390480451364,
+            -1913.963794875824,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -621.2371242564898,
+            -1912.463794875824,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -623.8352004678432,
+            -1910.963794875824,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -626.4332766791965,
+            -1909.463794875824,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -704.0,
+            -1896.0,
+            -203.555
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_2-11-14_376696776/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_2-11-14_376696776/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9da1fdfa31b044e74b37bcf2b3b953cc614f60e2
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_2-11-14_376696776/pose.jsonl
@@ -0,0 +1,574 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            391.13820724472623,
+            -1176.2104519473335,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            394.13820724472623,
+            -1176.2104519473335,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            397.13820724472623,
+            -1176.2104519473335,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            400.13820724472623,
+            -1176.2104519473335,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            403.13820724472623,
+            -1176.2104519473335,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            406.13820724472623,
+            -1176.2104519473335,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            409.13820724472623,
+            -1176.2104519473335,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            412.13820724472623,
+            -1176.2104519473335,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            415.13820724472623,
+            -1176.2104519473335,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            418.13820724472623,
+            -1176.2104519473335,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            421.13820724472623,
+            -1176.2104519473335,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            424.13820724472623,
+            -1176.2104519473335,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            427.13820724472623,
+            -1176.2104519473335,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            430.13820724472623,
+            -1176.2104519473335,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            433.13820724472623,
+            -1176.2104519473335,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            436.13820724472623,
+            -1176.2104519473335,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            439.13820724472623,
+            -1176.2104519473335,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            439.13820724472623,
+            -1176.2104519473335,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            441.73628345607955,
+            -1177.7104519473335,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            444.33435966743286,
+            -1179.2104519473335,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            446.9324358787862,
+            -1180.7104519473335,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            449.5305120901395,
+            -1182.2104519473335,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            452.1285883014928,
+            -1183.7104519473335,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            454.7266645128461,
+            -1185.2104519473335,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            457.32474072419944,
+            -1186.7104519473335,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            459.92281693555276,
+            -1188.2104519473335,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            462.5208931469061,
+            -1189.7104519473335,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            465.1189693582594,
+            -1191.2104519473335,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            467.7170455696127,
+            -1192.7104519473335,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            470.315121780966,
+            -1194.2104519473335,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            472.91319799231934,
+            -1195.7104519473335,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            475.51127420367266,
+            -1197.2104519473335,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            478.109350415026,
+            -1198.7104519473335,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            480.7074266263793,
+            -1200.2104519473335,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            483.3055028377326,
+            -1201.7104519473335,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            485.9035790490859,
+            -1203.2104519473335,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            488.50165526043924,
+            -1204.7104519473335,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            491.09973147179255,
+            -1206.2104519473335,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            493.69780768314587,
+            -1207.7104519473335,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            496.2958838944992,
+            -1209.2104519473335,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            498.8939601058525,
+            -1210.7104519473335,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            501.4920363172058,
+            -1212.2104519473335,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            504.09011252855913,
+            -1213.7104519473335,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            528.0,
+            -1224.0,
+            -203.312
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_2-19-13_981914693/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_2-19-13_981914693/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b092fcdbfb2b8f0f40f4150d05e194c62e878c64
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_2-19-13_981914693/pose.jsonl
@@ -0,0 +1,470 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            381.333149200583,
+            -2300.296482874514,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            382.833149200583,
+            -2297.6984066631608,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            384.333149200583,
+            -2295.1003304518076,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            385.833149200583,
+            -2292.5022542404545,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            387.333149200583,
+            -2289.9041780291013,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            388.833149200583,
+            -2287.306101817748,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            390.333149200583,
+            -2284.708025606395,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            391.833149200583,
+            -2282.109949395042,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            393.333149200583,
+            -2279.5118731836887,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            394.833149200583,
+            -2276.9137969723356,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            396.333149200583,
+            -2274.3157207609825,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            397.833149200583,
+            -2271.7176445496293,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            399.333149200583,
+            -2269.119568338276,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            400.833149200583,
+            -2266.521492126923,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            402.333149200583,
+            -2263.92341591557,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            403.833149200583,
+            -2261.3253397042167,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            405.333149200583,
+            -2258.7272634928636,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            406.833149200583,
+            -2256.1291872815104,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            408.333149200583,
+            -2253.5311110701573,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            409.833149200583,
+            -2250.933034858804,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            411.333149200583,
+            -2248.334958647451,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            412.833149200583,
+            -2245.736882436098,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            414.333149200583,
+            -2243.1388062247447,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            415.833149200583,
+            -2240.5407300133916,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            417.333149200583,
+            -2237.9426538020384,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            418.833149200583,
+            -2235.3445775906853,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            420.333149200583,
+            -2232.746501379332,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            421.833149200583,
+            -2230.148425167979,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            423.333149200583,
+            -2227.550348956626,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            424.833149200583,
+            -2224.9522727452727,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            426.333149200583,
+            -2222.3541965339195,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            427.833149200583,
+            -2219.7561203225664,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            429.333149200583,
+            -2217.1580441112133,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            430.833149200583,
+            -2214.55996789986,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            432.333149200583,
+            -2211.961891688507,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            440.0,
+            -2200.0,
+            -205.967
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_2-19-34_1375179334/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_2-19-34_1375179334/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..599093ca1f01666d583556a81c93011c8c10910a
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_2-19-34_1375179334/pose.jsonl
@@ -0,0 +1,327 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            344.0384903093983,
+            -2233.069223030934,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            347.0384903093983,
+            -2233.069223030934,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            350.0384903093983,
+            -2233.069223030934,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            353.0384903093983,
+            -2233.069223030934,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            356.0384903093983,
+            -2233.069223030934,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            359.0384903093983,
+            -2233.069223030934,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            362.0384903093983,
+            -2233.069223030934,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            365.0384903093983,
+            -2233.069223030934,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            368.0384903093983,
+            -2233.069223030934,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            368.0384903093983,
+            -2233.069223030934,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            370.6365665207516,
+            -2231.569223030934,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            373.23464273210493,
+            -2230.069223030934,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            375.83271894345825,
+            -2228.569223030934,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            378.43079515481156,
+            -2227.069223030934,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            381.0288713661649,
+            -2225.569223030934,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            383.6269475775182,
+            -2224.069223030934,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            386.2250237888715,
+            -2222.569223030934,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            388.8231000002248,
+            -2221.069223030934,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            391.42117621157814,
+            -2219.569223030934,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            394.01925242293146,
+            -2218.069223030934,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            396.6173286342848,
+            -2216.569223030934,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            399.2154048456381,
+            -2215.069223030934,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            401.8134810569914,
+            -2213.569223030934,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            404.4115572683447,
+            -2212.069223030934,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            440.0,
+            -2200.0,
+            -205.967
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_2-25-20_202550399/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_2-25-20_202550399/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9b4fd04ca21b9e7115d76ea2c31633e164dca620
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_2-25-20_202550399/pose.jsonl
@@ -0,0 +1,561 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            98.29246787480619,
+            -1553.8277075989374,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            101.29246787480619,
+            -1553.8277075989374,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            104.29246787480619,
+            -1553.8277075989374,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            107.29246787480619,
+            -1553.8277075989374,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            110.29246787480619,
+            -1553.8277075989374,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            113.29246787480619,
+            -1553.8277075989374,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            116.29246787480619,
+            -1553.8277075989374,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            119.29246787480619,
+            -1553.8277075989374,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            122.29246787480619,
+            -1553.8277075989374,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            125.29246787480619,
+            -1553.8277075989374,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            128.2924678748062,
+            -1553.8277075989374,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            131.2924678748062,
+            -1553.8277075989374,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            134.2924678748062,
+            -1553.8277075989374,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            137.2924678748062,
+            -1553.8277075989374,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            140.2924678748062,
+            -1553.8277075989374,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            143.2924678748062,
+            -1553.8277075989374,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            146.2924678748062,
+            -1553.8277075989374,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            149.2924678748062,
+            -1553.8277075989374,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            152.2924678748062,
+            -1553.8277075989374,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            155.2924678748062,
+            -1553.8277075989374,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            158.2924678748062,
+            -1553.8277075989374,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            161.2924678748062,
+            -1553.8277075989374,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            164.2924678748062,
+            -1553.8277075989374,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            167.2924678748062,
+            -1553.8277075989374,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            170.2924678748062,
+            -1553.8277075989374,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            173.2924678748062,
+            -1553.8277075989374,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            176.2924678748062,
+            -1553.8277075989374,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            179.2924678748062,
+            -1553.8277075989374,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            182.2924678748062,
+            -1553.8277075989374,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            185.2924678748062,
+            -1553.8277075989374,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            188.2924678748062,
+            -1553.8277075989374,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            191.2924678748062,
+            -1553.8277075989374,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            194.2924678748062,
+            -1553.8277075989374,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            197.2924678748062,
+            -1553.8277075989374,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            200.2924678748062,
+            -1553.8277075989374,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            203.2924678748062,
+            -1553.8277075989374,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            206.2924678748062,
+            -1553.8277075989374,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            209.2924678748062,
+            -1553.8277075989374,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            209.2924678748062,
+            -1553.8277075989374,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            211.8905440861595,
+            -1555.3277075989374,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            214.48862029751282,
+            -1556.8277075989374,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            217.08669650886614,
+            -1558.3277075989374,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            240.0,
+            -1560.0,
+            -206.55
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_2-3-34_1012836610/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_2-3-34_1012836610/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..297c40ccb75a954c7678cff3fba467fca968f282
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_2-3-34_1012836610/pose.jsonl
@@ -0,0 +1,561 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -834.1006531175208,
+            -3206.63611827646,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -836.6987293288742,
+            -3205.13611827646,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -839.2968055402275,
+            -3203.63611827646,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -841.8948817515809,
+            -3202.13611827646,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -844.4929579629343,
+            -3200.63611827646,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -847.0910341742876,
+            -3199.13611827646,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -849.689110385641,
+            -3197.63611827646,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -852.2871865969944,
+            -3196.13611827646,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -854.8852628083478,
+            -3194.63611827646,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -857.4833390197011,
+            -3193.13611827646,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -860.0814152310545,
+            -3191.63611827646,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -862.6794914424079,
+            -3190.13611827646,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -865.2775676537613,
+            -3188.63611827646,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -867.8756438651146,
+            -3187.13611827646,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -870.473720076468,
+            -3185.63611827646,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -873.0717962878214,
+            -3184.13611827646,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -875.6698724991747,
+            -3182.63611827646,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -878.2679487105281,
+            -3181.13611827646,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -880.8660249218815,
+            -3179.63611827646,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -883.4641011332349,
+            -3178.13611827646,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -886.0621773445882,
+            -3176.63611827646,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -888.6602535559416,
+            -3175.13611827646,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -891.258329767295,
+            -3173.63611827646,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -893.8564059786484,
+            -3172.13611827646,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -896.4544821900017,
+            -3170.63611827646,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -899.0525584013551,
+            -3169.13611827646,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -901.6506346127085,
+            -3167.63611827646,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -904.2487108240618,
+            -3166.13611827646,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -906.8467870354152,
+            -3164.63611827646,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -909.4448632467686,
+            -3163.13611827646,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -912.042939458122,
+            -3161.63611827646,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -914.6410156694753,
+            -3160.13611827646,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -917.2390918808287,
+            -3158.63611827646,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -919.8371680921821,
+            -3157.13611827646,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -922.4352443035355,
+            -3155.63611827646,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -925.0333205148888,
+            -3154.13611827646,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -927.6313967262422,
+            -3152.63611827646,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -930.2294729375956,
+            -3151.13611827646,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -932.827549148949,
+            -3149.63611827646,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -935.4256253603023,
+            -3148.13611827646,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -935.4256253603023,
+            -3148.13611827646,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -938.4256253603023,
+            -3148.13611827646,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -964.0,
+            -3136.0,
+            -205.779
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_2-31-50_1866355856/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_2-31-50_1866355856/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..42fa13ab5e21e95f5007aa8f49862182b30c0569
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_2-31-50_1866355856/pose.jsonl
@@ -0,0 +1,587 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            14.138362876537144,
+            -1742.9982505757566,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            17.138362876537144,
+            -1742.9982505757566,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            20.138362876537144,
+            -1742.9982505757566,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            23.138362876537144,
+            -1742.9982505757566,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            26.138362876537144,
+            -1742.9982505757566,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            29.138362876537144,
+            -1742.9982505757566,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            32.138362876537144,
+            -1742.9982505757566,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            35.138362876537144,
+            -1742.9982505757566,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            38.138362876537144,
+            -1742.9982505757566,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            41.138362876537144,
+            -1742.9982505757566,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            44.138362876537144,
+            -1742.9982505757566,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            47.138362876537144,
+            -1742.9982505757566,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            50.138362876537144,
+            -1742.9982505757566,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            53.138362876537144,
+            -1742.9982505757566,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            56.138362876537144,
+            -1742.9982505757566,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            59.138362876537144,
+            -1742.9982505757566,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            62.138362876537144,
+            -1742.9982505757566,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            65.13836287653714,
+            -1742.9982505757566,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            68.13836287653714,
+            -1742.9982505757566,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            71.13836287653714,
+            -1742.9982505757566,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            74.13836287653714,
+            -1742.9982505757566,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            77.13836287653714,
+            -1742.9982505757566,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            77.13836287653714,
+            -1742.9982505757566,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            79.73643908789046,
+            -1744.4982505757566,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            82.33451529924378,
+            -1745.9982505757566,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            84.93259151059709,
+            -1747.4982505757566,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            87.53066772195041,
+            -1748.9982505757566,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            90.12874393330372,
+            -1750.4982505757566,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            92.72682014465704,
+            -1751.9982505757566,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            95.32489635601036,
+            -1753.4982505757566,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            97.92297256736367,
+            -1754.9982505757566,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            100.52104877871699,
+            -1756.4982505757566,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            103.1191249900703,
+            -1757.9982505757566,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            105.71720120142362,
+            -1759.4982505757566,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            108.31527741277694,
+            -1760.9982505757566,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            110.91335362413025,
+            -1762.4982505757566,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            113.51142983548357,
+            -1763.9982505757566,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            116.10950604683688,
+            -1765.4982505757566,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            118.7075822581902,
+            -1766.9982505757566,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            121.30565846954352,
+            -1768.4982505757566,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            121.30565846954352,
+            -1768.4982505757566,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            124.30565846954352,
+            -1768.4982505757566,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            127.30565846954352,
+            -1768.4982505757566,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            130.30565846954352,
+            -1768.4982505757566,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            156.0,
+            -1776.0,
+            -214.057
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_2-42-52_153162844/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_2-42-52_153162844/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2b1394c71496173ee00236a343124eafe7a2fde6
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_2-42-52_153162844/pose.jsonl
@@ -0,0 +1,457 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -906.3023948494953,
+            -2825.949784633007,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -907.8023948494953,
+            -2828.54786084436,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -909.3023948494953,
+            -2831.145937055713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -910.8023948494953,
+            -2833.7440132670663,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -912.3023948494953,
+            -2836.3420894784194,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -913.8023948494953,
+            -2838.9401656897726,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -915.3023948494953,
+            -2841.5382419011257,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -916.8023948494953,
+            -2844.136318112479,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -918.3023948494953,
+            -2846.734394323832,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -919.8023948494953,
+            -2849.332470535185,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -921.3023948494953,
+            -2851.9305467465383,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -922.8023948494953,
+            -2854.5286229578915,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -924.3023948494953,
+            -2857.1266991692446,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -925.8023948494953,
+            -2859.7247753805977,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -927.3023948494953,
+            -2862.322851591951,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -928.8023948494953,
+            -2864.920927803304,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -930.3023948494953,
+            -2867.519004014657,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -931.8023948494953,
+            -2870.1170802260103,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -933.3023948494953,
+            -2872.7151564373635,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -933.3023948494953,
+            -2872.7151564373635,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.570796326794925
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -933.3023948494953,
+            -2875.7151564373635,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -933.3023948494953,
+            -2878.7151564373635,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -933.3023948494953,
+            -2881.7151564373635,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -933.3023948494953,
+            -2884.7151564373635,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -933.3023948494953,
+            -2887.7151564373635,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -933.3023948494953,
+            -2890.7151564373635,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -933.3023948494953,
+            -2893.7151564373635,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -933.3023948494953,
+            -2896.7151564373635,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -933.3023948494953,
+            -2899.7151564373635,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -933.3023948494953,
+            -2902.7151564373635,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -933.3023948494953,
+            -2905.7151564373635,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -933.3023948494953,
+            -2908.7151564373635,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -933.3023948494953,
+            -2911.7151564373635,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -933.3023948494953,
+            -2914.7151564373635,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -940.0,
+            -2936.0,
+            -205.779
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_2-44-38_1998994314/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_2-44-38_1998994314/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c92346cef35b97f79fe1b5312f6269aeb8fcb904
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_2-44-38_1998994314/pose.jsonl
@@ -0,0 +1,353 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            290.0549404091488,
+            -1404.216089076318,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            288.5549404091488,
+            -1401.6180128649646,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            287.0549404091488,
+            -1399.0199366536112,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            285.5549404091488,
+            -1396.4218604422579,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            284.0549404091488,
+            -1393.8237842309045,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            282.5549404091488,
+            -1391.2257080195511,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            281.0549404091488,
+            -1388.6276318081977,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            279.5549404091488,
+            -1386.0295555968444,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            278.0549404091488,
+            -1383.431479385491,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            276.5549404091488,
+            -1380.8334031741376,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            275.0549404091488,
+            -1378.2353269627843,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            273.5549404091488,
+            -1375.6372507514309,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            272.0549404091488,
+            -1373.0391745400775,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            270.5549404091488,
+            -1370.4410983287241,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            269.0549404091488,
+            -1367.8430221173708,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            267.5549404091488,
+            -1365.2449459060174,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            266.0549404091488,
+            -1362.646869694664,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            264.5549404091488,
+            -1360.0487934833106,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            263.0549404091488,
+            -1357.4507172719573,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            261.5549404091488,
+            -1354.852641060604,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            260.0549404091488,
+            -1352.2545648492505,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            258.5549404091488,
+            -1349.6564886378972,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            257.0549404091488,
+            -1347.0584124265438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            255.5549404091488,
+            -1344.4603362151904,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            254.0549404091488,
+            -1341.862260003837,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            252.5549404091488,
+            -1339.2641837924837,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            240.0,
+            -1316.0,
+            -219.268
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_2-45-35_1934660183/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_2-45-35_1934660183/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..afce07031635ee0ca0f91b05aaf1e270e6dba99e
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_2-45-35_1934660183/pose.jsonl
@@ -0,0 +1,366 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            261.7194343492835,
+            -1799.0998549588276,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            258.7194343492835,
+            -1799.0998549588276,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            255.71943434928352,
+            -1799.0998549588276,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            252.71943434928352,
+            -1799.0998549588276,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            249.71943434928352,
+            -1799.0998549588276,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            246.71943434928352,
+            -1799.0998549588276,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            243.71943434928352,
+            -1799.0998549588276,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            240.71943434928352,
+            -1799.0998549588276,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            237.71943434928352,
+            -1799.0998549588276,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            234.71943434928352,
+            -1799.0998549588276,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            231.71943434928352,
+            -1799.0998549588276,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            228.71943434928352,
+            -1799.0998549588276,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            225.71943434928352,
+            -1799.0998549588276,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            222.71943434928352,
+            -1799.0998549588276,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            219.71943434928352,
+            -1799.0998549588276,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            219.71943434928352,
+            -1799.0998549588276,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            217.1213581379302,
+            -1797.5998549588276,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            214.52328192657689,
+            -1796.0998549588276,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            211.92520571522357,
+            -1794.5998549588276,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            209.32712950387025,
+            -1793.0998549588276,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            206.72905329251694,
+            -1791.5998549588276,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            204.13097708116362,
+            -1790.0998549588276,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            201.5329008698103,
+            -1788.5998549588276,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            198.934824658457,
+            -1787.0998549588276,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            196.33674844710367,
+            -1785.5998549588276,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            193.73867223575036,
+            -1784.0998549588276,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            191.14059602439704,
+            -1782.5998549588276,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            156.0,
+            -1776.0,
+            -214.057
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_2-46-37_1978701535/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_2-46-37_1978701535/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..09315b6c3dfbbdea60b4cae1b8c0f9b330782f0f
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_2-46-37_1978701535/pose.jsonl
@@ -0,0 +1,483 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -31.429354268804715,
+            -1622.0269661665689,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -28.8312780574514,
+            -1623.5269661665689,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -26.233201846098083,
+            -1625.0269661665689,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -23.635125634744767,
+            -1626.5269661665689,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -21.03704942339145,
+            -1628.0269661665689,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -18.438973212038135,
+            -1629.5269661665689,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -15.84089700068482,
+            -1631.0269661665689,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -13.242820789331503,
+            -1632.5269661665689,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -10.644744577978187,
+            -1634.0269661665689,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -8.046668366624871,
+            -1635.5269661665689,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -5.448592155271555,
+            -1637.0269661665689,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -2.8505159439182393,
+            -1638.5269661665689,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -0.25243973256492325,
+            -1640.0269661665689,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            2.3456364787883928,
+            -1641.5269661665689,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            4.943712690141709,
+            -1643.0269661665689,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            7.541788901495025,
+            -1644.5269661665689,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            10.13986511284834,
+            -1646.0269661665689,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            12.737941324201657,
+            -1647.5269661665689,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            15.336017535554973,
+            -1649.0269661665689,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            17.93409374690829,
+            -1650.5269661665689,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            20.532169958261605,
+            -1652.0269661665689,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            23.13024616961492,
+            -1653.5269661665689,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            25.728322380968237,
+            -1655.0269661665689,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            25.728322380968237,
+            -1655.0269661665689,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            27.228322380968237,
+            -1657.6250423779222,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            28.728322380968237,
+            -1660.2231185892756,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            30.228322380968237,
+            -1662.821194800629,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            31.728322380968237,
+            -1665.4192710119823,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            33.22832238096824,
+            -1668.0173472233357,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            34.72832238096824,
+            -1670.615423434689,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            36.22832238096824,
+            -1673.2134996460425,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            37.72832238096824,
+            -1675.8115758573958,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            39.22832238096824,
+            -1678.4096520687492,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            39.22832238096824,
+            -1678.4096520687492,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            39.22832238096824,
+            -1678.4096520687492,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -9.547918011776346e-15
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            42.22832238096824,
+            -1678.4096520687492,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -9.547918011776346e-15
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            68.0,
+            -1696.0,
+            -213.853
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_2-47-40_1762924393/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_2-47-40_1762924393/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e8b59cf63cc4deca8af606b42c0c723d82704345
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_2-47-40_1762924393/pose.jsonl
@@ -0,0 +1,483 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -738.9815434788366,
+            -2023.3397477055628,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -737.4815434788366,
+            -2020.7416714942094,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -735.9815434788366,
+            -2018.143595282856,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -734.4815434788366,
+            -2015.5455190715027,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -732.9815434788366,
+            -2012.9474428601493,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -731.4815434788366,
+            -2010.349366648796,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -729.9815434788366,
+            -2007.7512904374425,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -728.4815434788366,
+            -2005.1532142260892,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -726.9815434788366,
+            -2002.5551380147358,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -725.4815434788366,
+            -1999.9570618033824,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -723.9815434788366,
+            -1997.358985592029,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -722.4815434788366,
+            -1994.7609093806757,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -720.9815434788366,
+            -1992.1628331693223,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -719.4815434788366,
+            -1989.564756957969,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -717.9815434788366,
+            -1986.9666807466156,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -716.4815434788366,
+            -1984.3686045352622,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -714.9815434788366,
+            -1981.7705283239088,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -713.4815434788366,
+            -1979.1724521125554,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -711.9815434788366,
+            -1976.574375901202,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -710.4815434788366,
+            -1973.9762996898487,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -708.9815434788366,
+            -1971.3782234784953,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -708.9815434788366,
+            -1971.3782234784953,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -706.3834672674832,
+            -1969.8782234784953,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -703.7853910561298,
+            -1968.3782234784953,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -701.1873148447764,
+            -1966.8782234784953,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -698.5892386334231,
+            -1965.3782234784953,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -695.9911624220697,
+            -1963.8782234784953,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -693.3930862107163,
+            -1962.3782234784953,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -690.795009999363,
+            -1960.8782234784953,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -688.1969337880096,
+            -1959.3782234784953,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -685.5988575766562,
+            -1957.8782234784953,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -685.5988575766562,
+            -1957.8782234784953,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -684.0988575766562,
+            -1955.280147267142,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -682.5988575766562,
+            -1952.6820710557886,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -681.0988575766562,
+            -1950.0839948444352,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -679.5988575766562,
+            -1947.4859186330818,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -656.0,
+            -1916.0,
+            -213.853
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_2-48-26_1092637289/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_2-48-26_1092637289/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..dd5e4d5f93119a1885f96c52d9849da5da8378d9
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_2-48-26_1092637289/pose.jsonl
@@ -0,0 +1,522 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -730.2082133021763,
+            -2088.1465486360353,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -728.7082133021763,
+            -2090.7446248473884,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -727.2082133021763,
+            -2093.3427010587416,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -725.7082133021763,
+            -2095.9407772700947,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -724.2082133021763,
+            -2098.538853481448,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -722.7082133021763,
+            -2101.136929692801,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -721.2082133021763,
+            -2103.735005904154,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -719.7082133021763,
+            -2106.3330821155073,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -718.2082133021763,
+            -2108.9311583268604,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -716.7082133021763,
+            -2111.5292345382136,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -715.2082133021763,
+            -2114.1273107495667,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -713.7082133021763,
+            -2116.72538696092,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -712.2082133021763,
+            -2119.323463172273,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -710.7082133021763,
+            -2121.921539383626,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -709.2082133021763,
+            -2124.5196155949793,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -707.7082133021763,
+            -2127.1176918063325,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -706.2082133021763,
+            -2129.7157680176856,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -704.7082133021763,
+            -2132.3138442290388,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -703.2082133021763,
+            -2134.911920440392,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -701.7082133021763,
+            -2137.509996651745,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -700.2082133021763,
+            -2140.108072863098,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -698.7082133021763,
+            -2142.7061490744513,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -697.2082133021763,
+            -2145.3042252858045,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -695.7082133021763,
+            -2147.9023014971576,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -694.2082133021763,
+            -2150.5003777085108,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -692.7082133021763,
+            -2153.098453919864,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -691.2082133021763,
+            -2155.696530131217,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -689.7082133021763,
+            -2158.29460634257,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -688.2082133021763,
+            -2160.8926825539234,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -686.7082133021763,
+            -2163.4907587652765,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -686.7082133021763,
+            -2163.4907587652765,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948681
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -686.7082133021763,
+            -2166.4907587652765,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -686.7082133021763,
+            -2169.4907587652765,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -686.7082133021763,
+            -2172.4907587652765,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -686.7082133021763,
+            -2175.4907587652765,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -686.7082133021763,
+            -2178.4907587652765,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -686.7082133021763,
+            -2181.4907587652765,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -686.7082133021763,
+            -2184.4907587652765,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -686.7082133021763,
+            -2187.4907587652765,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -680.0,
+            -2208.0,
+            -225.684
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_2-49-30_616734673/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_2-49-30_616734673/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..91077d7b0376b706ed00faacc55e3f5e92fffeea
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_2-49-30_616734673/pose.jsonl
@@ -0,0 +1,80 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -568.424525655196,
+            -2643.1911653912193,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -566.924525655196,
+            -2645.7892416025725,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -565.424525655196,
+            -2648.3873178139256,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -563.924525655196,
+            -2650.9853940252788,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -562.424525655196,
+            -2653.583470236632,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -520.0,
+            -2776.0,
+            -177.42
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_2-59-56_1903409954/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_2-59-56_1903409954/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..82746c9ff35798946f2689980a736e43d620af79
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_2-59-56_1903409954/pose.jsonl
@@ -0,0 +1,535 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -207.2696861947353,
+            -1581.1929899956083,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -208.7696861947353,
+            -1578.594913784255,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -210.2696861947353,
+            -1575.9968375729015,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -211.7696861947353,
+            -1573.3987613615482,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -213.2696861947353,
+            -1570.8006851501948,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -214.7696861947353,
+            -1568.2026089388414,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -216.2696861947353,
+            -1565.604532727488,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -217.7696861947353,
+            -1563.0064565161347,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -219.2696861947353,
+            -1560.4083803047813,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -220.7696861947353,
+            -1557.810304093428,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -222.2696861947353,
+            -1555.2122278820746,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -223.7696861947353,
+            -1552.6141516707212,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -225.2696861947353,
+            -1550.0160754593678,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -226.7696861947353,
+            -1547.4179992480144,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -228.2696861947353,
+            -1544.819923036661,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -229.7696861947353,
+            -1542.2218468253077,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -231.2696861947353,
+            -1539.6237706139543,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -232.7696861947353,
+            -1537.025694402601,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -234.2696861947353,
+            -1534.4276181912476,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -235.7696861947353,
+            -1531.8295419798942,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -237.2696861947353,
+            -1529.2314657685408,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -238.7696861947353,
+            -1526.6333895571875,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -240.2696861947353,
+            -1524.035313345834,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -241.7696861947353,
+            -1521.4372371344807,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -243.2696861947353,
+            -1518.8391609231273,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -244.7696861947353,
+            -1516.241084711774,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -246.2696861947353,
+            -1513.6430085004206,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -247.7696861947353,
+            -1511.0449322890672,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -249.2696861947353,
+            -1508.4468560777138,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -250.7696861947353,
+            -1505.8487798663605,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -252.2696861947353,
+            -1503.250703655007,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -253.7696861947353,
+            -1500.6526274436537,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -255.2696861947353,
+            -1498.0545512323004,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -256.7696861947353,
+            -1495.456475020947,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -256.7696861947353,
+            -1495.456475020947,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -256.7696861947353,
+            -1492.456475020947,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -256.7696861947353,
+            -1489.456475020947,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -256.7696861947353,
+            -1486.456475020947,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -256.7696861947353,
+            -1483.456475020947,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -256.7696861947353,
+            -1480.456475020947,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -268.0,
+            -1452.0,
+            -201.911
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_3-10-21_813465002/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_3-10-21_813465002/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8b8c05d2e669d482a75bce5f6af07fa9e0ecdec4
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_3-10-21_813465002/pose.jsonl
@@ -0,0 +1,431 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -129.79305151295247,
+            -1265.10449092182,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -126.79305151295247,
+            -1265.10449092182,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -123.79305151295247,
+            -1265.10449092182,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -120.79305151295247,
+            -1265.10449092182,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -117.79305151295247,
+            -1265.10449092182,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -114.79305151295247,
+            -1265.10449092182,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -111.79305151295247,
+            -1265.10449092182,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -108.79305151295247,
+            -1265.10449092182,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -105.79305151295247,
+            -1265.10449092182,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -102.79305151295247,
+            -1265.10449092182,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -99.79305151295247,
+            -1265.10449092182,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -99.79305151295247,
+            -1265.10449092182,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -97.19497530159916,
+            -1263.60449092182,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -94.59689909024584,
+            -1262.10449092182,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -91.99882287889253,
+            -1260.60449092182,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -89.40074666753921,
+            -1259.10449092182,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -86.8026704561859,
+            -1257.60449092182,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -84.20459424483258,
+            -1256.10449092182,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -81.60651803347926,
+            -1254.60449092182,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -79.00844182212595,
+            -1253.10449092182,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -76.41036561077263,
+            -1251.60449092182,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -73.81228939941931,
+            -1250.10449092182,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -71.214213188066,
+            -1248.60449092182,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -68.61613697671268,
+            -1247.10449092182,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -66.01806076535937,
+            -1245.60449092182,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -63.41998455400605,
+            -1244.10449092182,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -60.82190834265273,
+            -1242.60449092182,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -58.22383213129942,
+            -1241.10449092182,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -55.6257559199461,
+            -1239.60449092182,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -55.6257559199461,
+            -1239.60449092182,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -52.6257559199461,
+            -1239.60449092182,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -49.6257559199461,
+            -1239.60449092182,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -24.0,
+            -1232.0,
+            -213.853
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_3-13-10_1922757472/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_3-13-10_1922757472/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ec20b86fd128b9ecf92358c1b9329f41edfadd27
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_3-13-10_1922757472/pose.jsonl
@@ -0,0 +1,574 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            187.77397944779463,
+            -1308.954627495734,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            189.27397944779463,
+            -1311.5527037070874,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            190.77397944779463,
+            -1314.1507799184408,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            192.27397944779463,
+            -1316.7488561297941,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            193.77397944779463,
+            -1319.3469323411475,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            195.27397944779463,
+            -1321.945008552501,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            196.77397944779463,
+            -1324.5430847638543,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            198.27397944779463,
+            -1327.1411609752076,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            199.77397944779463,
+            -1329.739237186561,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            201.27397944779463,
+            -1332.3373133979144,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            202.77397944779463,
+            -1334.9353896092678,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            204.27397944779463,
+            -1337.5334658206211,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            205.77397944779463,
+            -1340.1315420319745,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            207.27397944779463,
+            -1342.7296182433279,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            208.77397944779463,
+            -1345.3276944546813,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            210.27397944779463,
+            -1347.9257706660346,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            211.77397944779463,
+            -1350.523846877388,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            213.27397944779463,
+            -1353.1219230887414,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            214.77397944779463,
+            -1355.7199993000947,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            216.27397944779463,
+            -1358.3180755114481,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            217.77397944779463,
+            -1360.9161517228015,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            219.27397944779463,
+            -1363.5142279341549,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            220.77397944779463,
+            -1366.1123041455082,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            222.27397944779463,
+            -1368.7103803568616,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            222.27397944779463,
+            -1368.7103803568616,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            222.27397944779463,
+            -1371.7103803568616,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            222.27397944779463,
+            -1374.7103803568616,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            222.27397944779463,
+            -1377.7103803568616,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            222.27397944779463,
+            -1380.7103803568616,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            222.27397944779463,
+            -1383.7103803568616,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            222.27397944779463,
+            -1386.7103803568616,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            222.27397944779463,
+            -1389.7103803568616,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            222.27397944779463,
+            -1392.7103803568616,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            222.27397944779463,
+            -1395.7103803568616,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            222.27397944779463,
+            -1398.7103803568616,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            222.27397944779463,
+            -1398.7103803568616,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            223.77397944779463,
+            -1401.308456568215,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            225.27397944779463,
+            -1403.9065327795684,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            226.77397944779463,
+            -1406.5046089909217,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            228.27397944779463,
+            -1409.102685202275,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            229.77397944779463,
+            -1411.7007614136285,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            231.27397944779463,
+            -1414.2988376249818,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            232.77397944779463,
+            -1416.8969138363352,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            240.0,
+            -1440.0,
+            -225.243
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_3-14-24_1554725062/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_3-14-24_1554725062/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d39e357d111d599291a74d73181bf7e7aca44728
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_3-14-24_1554725062/pose.jsonl
@@ -0,0 +1,483 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -593.1114628823021,
+            -1963.9380985820949,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -596.1114628823021,
+            -1963.9380985820949,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -599.1114628823021,
+            -1963.9380985820949,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -602.1114628823021,
+            -1963.9380985820949,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -605.1114628823021,
+            -1963.9380985820949,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -608.1114628823021,
+            -1963.9380985820949,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -611.1114628823021,
+            -1963.9380985820949,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -614.1114628823021,
+            -1963.9380985820949,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -617.1114628823021,
+            -1963.9380985820949,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -620.1114628823021,
+            -1963.9380985820949,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -623.1114628823021,
+            -1963.9380985820949,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -626.1114628823021,
+            -1963.9380985820949,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -629.1114628823021,
+            -1963.9380985820949,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -632.1114628823021,
+            -1963.9380985820949,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -635.1114628823021,
+            -1963.9380985820949,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -638.1114628823021,
+            -1963.9380985820949,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -641.1114628823021,
+            -1963.9380985820949,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -644.1114628823021,
+            -1963.9380985820949,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -647.1114628823021,
+            -1963.9380985820949,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -650.1114628823021,
+            -1963.9380985820949,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -650.1114628823021,
+            -1963.9380985820949,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -652.7095390936554,
+            -1962.4380985820949,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -655.3076153050088,
+            -1960.9380985820949,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -657.9056915163621,
+            -1959.4380985820949,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -660.5037677277155,
+            -1957.9380985820949,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -663.1018439390689,
+            -1956.4380985820949,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -665.6999201504223,
+            -1954.9380985820949,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -668.2979963617756,
+            -1953.4380985820949,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -670.896072573129,
+            -1951.9380985820949,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -673.4941487844824,
+            -1950.4380985820949,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -676.0922249958357,
+            -1948.9380985820949,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -678.6903012071891,
+            -1947.4380985820949,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -681.2883774185425,
+            -1945.9380985820949,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -683.8864536298959,
+            -1944.4380985820949,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -683.8864536298959,
+            -1944.4380985820949,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -686.8864536298959,
+            -1944.4380985820949,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -712.0,
+            -1940.0,
+            -205.963
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_3-16-46_1369893141/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_3-16-46_1369893141/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d967e249382d3d07826a3834d41e3b8157d60e62
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_3-16-46_1369893141/pose.jsonl
@@ -0,0 +1,535 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            203.04065918803292,
+            -1746.5256820960713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            200.4425829766796,
+            -1745.0256820960713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            197.8445067653263,
+            -1743.5256820960713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            195.24643055397297,
+            -1742.0256820960713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            192.64835434261965,
+            -1740.5256820960713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            190.05027813126634,
+            -1739.0256820960713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            187.45220191991302,
+            -1737.5256820960713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            184.8541257085597,
+            -1736.0256820960713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            182.2560494972064,
+            -1734.5256820960713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            179.65797328585307,
+            -1733.0256820960713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            177.05989707449976,
+            -1731.5256820960713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            174.46182086314644,
+            -1730.0256820960713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            171.86374465179313,
+            -1728.5256820960713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            169.2656684404398,
+            -1727.0256820960713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            166.6675922290865,
+            -1725.5256820960713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            164.06951601773318,
+            -1724.0256820960713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            161.47143980637986,
+            -1722.5256820960713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            158.87336359502655,
+            -1721.0256820960713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            156.27528738367323,
+            -1719.5256820960713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            153.67721117231991,
+            -1718.0256820960713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            151.0791349609666,
+            -1716.5256820960713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            148.48105874961328,
+            -1715.0256820960713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            145.88298253825997,
+            -1713.5256820960713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            143.28490632690665,
+            -1712.0256820960713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            140.68683011555333,
+            -1710.5256820960713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            138.08875390420002,
+            -1709.0256820960713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            135.4906776928467,
+            -1707.5256820960713,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            135.4906776928467,
+            -1707.5256820960713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            132.4906776928467,
+            -1707.5256820960713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            129.4906776928467,
+            -1707.5256820960713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            126.4906776928467,
+            -1707.5256820960713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            123.4906776928467,
+            -1707.5256820960713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            120.4906776928467,
+            -1707.5256820960713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            117.4906776928467,
+            -1707.5256820960713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            114.4906776928467,
+            -1707.5256820960713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            111.4906776928467,
+            -1707.5256820960713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            108.4906776928467,
+            -1707.5256820960713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            105.4906776928467,
+            -1707.5256820960713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            102.4906776928467,
+            -1707.5256820960713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            99.4906776928467,
+            -1707.5256820960713,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            68.0,
+            -1696.0,
+            -213.853
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_3-18-0_52775474/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_3-18-0_52775474/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fb9424724b1af5029cf8ea8f550015d860f7d64a
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_3-18-0_52775474/pose.jsonl
@@ -0,0 +1,379 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -358.9637115184197,
+            -1403.259877973089,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -355.9637115184197,
+            -1403.259877973089,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -352.9637115184197,
+            -1403.259877973089,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -349.9637115184197,
+            -1403.259877973089,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -349.9637115184197,
+            -1403.259877973089,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -347.3656353070664,
+            -1404.759877973089,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -344.76755909571307,
+            -1406.259877973089,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -342.16948288435975,
+            -1407.759877973089,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -339.57140667300644,
+            -1409.259877973089,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -336.9733304616531,
+            -1410.759877973089,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -334.3752542502998,
+            -1412.259877973089,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -331.7771780389465,
+            -1413.759877973089,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -329.1791018275932,
+            -1415.259877973089,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -326.58102561623986,
+            -1416.759877973089,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -323.98294940488654,
+            -1418.259877973089,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -321.3848731935332,
+            -1419.759877973089,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -318.7867969821799,
+            -1421.259877973089,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -316.1887207708266,
+            -1422.759877973089,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -313.5906445594733,
+            -1424.259877973089,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -310.99256834811996,
+            -1425.759877973089,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -308.39449213676664,
+            -1427.259877973089,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -305.7964159254133,
+            -1428.759877973089,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -303.19833971406,
+            -1430.259877973089,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -300.6002635027067,
+            -1431.759877973089,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -298.0021872913534,
+            -1433.259877973089,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -295.40411108000006,
+            -1434.759877973089,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -292.80603486864675,
+            -1436.259877973089,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -290.20795865729343,
+            -1437.759877973089,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -268.0,
+            -1452.0,
+            -201.911
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_3-24-8_895873480/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_3-24-8_895873480/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f64a6537439471f5f673644ee890c688f0df9c4f
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_3-24-8_895873480/pose.jsonl
@@ -0,0 +1,392 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -619.8566005571282,
+            -1999.5704379834228,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -622.4546767684815,
+            -1998.0704379834228,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -625.0527529798348,
+            -1996.5704379834228,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -627.6508291911882,
+            -1995.0704379834228,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -630.2489054025416,
+            -1993.5704379834228,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -632.846981613895,
+            -1992.0704379834228,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -635.4450578252483,
+            -1990.5704379834228,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -638.0431340366017,
+            -1989.0704379834228,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -640.6412102479551,
+            -1987.5704379834228,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -643.2392864593085,
+            -1986.0704379834228,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -645.8373626706618,
+            -1984.5704379834228,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -648.4354388820152,
+            -1983.0704379834228,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -651.0335150933686,
+            -1981.5704379834228,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -653.631591304722,
+            -1980.0704379834228,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -656.2296675160753,
+            -1978.5704379834228,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -658.8277437274287,
+            -1977.0704379834228,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -661.4258199387821,
+            -1975.5704379834228,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -664.0238961501354,
+            -1974.0704379834228,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -666.6219723614888,
+            -1972.5704379834228,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -669.2200485728422,
+            -1971.0704379834228,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -671.8181247841956,
+            -1969.5704379834228,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -674.4162009955489,
+            -1968.0704379834228,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -677.0142772069023,
+            -1966.5704379834228,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -679.6123534182557,
+            -1965.0704379834228,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -682.210429629609,
+            -1963.5704379834228,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -682.210429629609,
+            -1963.5704379834228,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -683.710429629609,
+            -1960.9723617720695,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -685.210429629609,
+            -1958.374285560716,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -686.710429629609,
+            -1955.7762093493627,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -712.0,
+            -1940.0,
+            -205.963
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_3-36-44_1690492373/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_3-36-44_1690492373/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f844f62815d7dad3514ea205271d696fac4f43d2
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_3-36-44_1690492373/pose.jsonl
@@ -0,0 +1,418 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -605.5663270117138,
+            -1957.7281852083477,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -608.5663270117138,
+            -1957.7281852083477,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -611.5663270117138,
+            -1957.7281852083477,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -614.5663270117138,
+            -1957.7281852083477,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -617.5663270117138,
+            -1957.7281852083477,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -620.5663270117138,
+            -1957.7281852083477,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -623.5663270117138,
+            -1957.7281852083477,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -626.5663270117138,
+            -1957.7281852083477,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -629.5663270117138,
+            -1957.7281852083477,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -632.5663270117138,
+            -1957.7281852083477,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -635.5663270117138,
+            -1957.7281852083477,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -638.5663270117138,
+            -1957.7281852083477,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -641.5663270117138,
+            -1957.7281852083477,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -644.5663270117138,
+            -1957.7281852083477,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -647.5663270117138,
+            -1957.7281852083477,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -650.5663270117138,
+            -1957.7281852083477,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -653.5663270117138,
+            -1957.7281852083477,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -656.5663270117138,
+            -1957.7281852083477,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -659.5663270117138,
+            -1957.7281852083477,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -659.5663270117138,
+            -1957.7281852083477,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -662.1644032230672,
+            -1956.2281852083477,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -664.7624794344206,
+            -1954.7281852083477,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -667.360555645774,
+            -1953.2281852083477,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -669.9586318571273,
+            -1951.7281852083477,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -672.5567080684807,
+            -1950.2281852083477,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -675.1547842798341,
+            -1948.7281852083477,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -677.7528604911874,
+            -1947.2281852083477,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -680.3509367025408,
+            -1945.7281852083477,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -682.9490129138942,
+            -1944.2281852083477,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -685.5470891252476,
+            -1942.7281852083477,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -688.1451653366009,
+            -1941.2281852083477,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -712.0,
+            -1940.0,
+            -205.963
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_3-38-55_499429649/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_3-38-55_499429649/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d81cea7de9514b2fdf3356a8f350d79c6ffd769f
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_3-38-55_499429649/pose.jsonl
@@ -0,0 +1,522 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -310.3737909600668,
+            -1581.983225762344,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -308.8737909600668,
+            -1579.3851495509907,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -307.3737909600668,
+            -1576.7870733396373,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -305.8737909600668,
+            -1574.188997128284,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -304.3737909600668,
+            -1571.5909209169306,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -302.8737909600668,
+            -1568.9928447055772,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -301.3737909600668,
+            -1566.3947684942239,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -299.8737909600668,
+            -1563.7966922828705,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -298.3737909600668,
+            -1561.198616071517,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -296.8737909600668,
+            -1558.6005398601637,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -295.3737909600668,
+            -1556.0024636488104,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -293.8737909600668,
+            -1553.404387437457,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -292.3737909600668,
+            -1550.8063112261036,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -290.8737909600668,
+            -1548.2082350147502,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -289.3737909600668,
+            -1545.6101588033969,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -287.8737909600668,
+            -1543.0120825920435,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -286.3737909600668,
+            -1540.4140063806901,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -284.8737909600668,
+            -1537.8159301693368,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -283.3737909600668,
+            -1535.2178539579834,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -281.8737909600668,
+            -1532.61977774663,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -280.3737909600668,
+            -1530.0217015352766,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -278.8737909600668,
+            -1527.4236253239233,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -277.3737909600668,
+            -1524.82554911257,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -275.8737909600668,
+            -1522.2274729012165,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -275.8737909600668,
+            -1522.2274729012165,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -275.8737909600668,
+            -1519.2274729012165,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -275.8737909600668,
+            -1516.2274729012165,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -275.8737909600668,
+            -1513.2274729012165,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -275.8737909600668,
+            -1510.2274729012165,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -275.8737909600668,
+            -1507.2274729012165,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -275.8737909600668,
+            -1504.2274729012165,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -275.8737909600668,
+            -1501.2274729012165,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -275.8737909600668,
+            -1498.2274729012165,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -275.8737909600668,
+            -1495.2274729012165,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -275.8737909600668,
+            -1492.2274729012165,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -275.8737909600668,
+            -1489.2274729012165,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -275.8737909600668,
+            -1486.2274729012165,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -275.8737909600668,
+            -1483.2274729012165,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -275.8737909600668,
+            -1480.2274729012165,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -268.0,
+            -1452.0,
+            -201.911
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_3-40-2_1759007339/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_3-40-2_1759007339/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6d6465a9f71930ac27a16add7f9f1058fb1ce38c
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_3-40-2_1759007339/pose.jsonl
@@ -0,0 +1,626 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            224.32076106876173,
+            -1169.1349657460437,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            224.32076106876173,
+            -1172.1349657460437,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            224.32076106876173,
+            -1175.1349657460437,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            224.32076106876173,
+            -1178.1349657460437,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            224.32076106876173,
+            -1181.1349657460437,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            224.32076106876173,
+            -1184.1349657460437,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            224.32076106876173,
+            -1187.1349657460437,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            224.32076106876173,
+            -1190.1349657460437,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            224.32076106876173,
+            -1193.1349657460437,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            224.32076106876173,
+            -1196.1349657460437,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            224.32076106876173,
+            -1199.1349657460437,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            224.32076106876173,
+            -1202.1349657460437,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            224.32076106876173,
+            -1205.1349657460437,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            224.32076106876173,
+            -1208.1349657460437,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            224.32076106876173,
+            -1211.1349657460437,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            224.32076106876173,
+            -1214.1349657460437,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            224.32076106876173,
+            -1217.1349657460437,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            224.32076106876173,
+            -1220.1349657460437,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            224.32076106876173,
+            -1223.1349657460437,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            224.32076106876173,
+            -1226.1349657460437,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            224.32076106876173,
+            -1229.1349657460437,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            224.32076106876173,
+            -1232.1349657460437,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            224.32076106876173,
+            -1235.1349657460437,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            224.32076106876173,
+            -1238.1349657460437,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            224.32076106876173,
+            -1241.1349657460437,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            224.32076106876173,
+            -1244.1349657460437,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            224.32076106876173,
+            -1247.1349657460437,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            224.32076106876173,
+            -1250.1349657460437,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            224.32076106876173,
+            -1253.1349657460437,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            224.32076106876173,
+            -1256.1349657460437,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            224.32076106876173,
+            -1259.1349657460437,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            224.32076106876173,
+            -1262.1349657460437,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            224.32076106876173,
+            -1265.1349657460437,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            224.32076106876173,
+            -1268.1349657460437,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            224.32076106876173,
+            -1268.1349657460437,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            225.82076106876173,
+            -1270.733041957397,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            227.32076106876173,
+            -1273.3311181687504,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            228.82076106876173,
+            -1275.9291943801038,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            230.32076106876173,
+            -1278.5272705914572,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            231.82076106876173,
+            -1281.1253468028106,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            233.32076106876173,
+            -1283.723423014164,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            234.82076106876173,
+            -1286.3214992255173,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            236.32076106876173,
+            -1288.9195754368707,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            237.82076106876173,
+            -1291.517651648224,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            237.82076106876173,
+            -1291.517651648224,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            237.82076106876173,
+            -1294.517651648224,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            237.82076106876173,
+            -1297.517651648224,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            240.0,
+            -1316.0,
+            -219.268
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_3-41-26_272312086/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_3-41-26_272312086/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e9672147ddd2d02ad520e8d3ed9d8085508aa46
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_3-41-26_272312086/pose.jsonl
@@ -0,0 +1,548 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            114.3743127065147,
+            -1504.5015278092965,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            117.3743127065147,
+            -1504.5015278092965,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            120.3743127065147,
+            -1504.5015278092965,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            123.3743127065147,
+            -1504.5015278092965,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            126.3743127065147,
+            -1504.5015278092965,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            129.3743127065147,
+            -1504.5015278092965,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            132.3743127065147,
+            -1504.5015278092965,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            135.3743127065147,
+            -1504.5015278092965,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            138.3743127065147,
+            -1504.5015278092965,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            138.3743127065147,
+            -1504.5015278092965,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            140.97238891786802,
+            -1506.0015278092965,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            143.57046512922133,
+            -1507.5015278092965,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            146.16854134057465,
+            -1509.0015278092965,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            148.76661755192796,
+            -1510.5015278092965,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            151.36469376328128,
+            -1512.0015278092965,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            153.9627699746346,
+            -1513.5015278092965,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            156.5608461859879,
+            -1515.0015278092965,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            159.15892239734123,
+            -1516.5015278092965,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            161.75699860869454,
+            -1518.0015278092965,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            164.35507482004786,
+            -1519.5015278092965,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            166.95315103140118,
+            -1521.0015278092965,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            169.5512272427545,
+            -1522.5015278092965,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            172.1493034541078,
+            -1524.0015278092965,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            174.74737966546112,
+            -1525.5015278092965,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            177.34545587681444,
+            -1527.0015278092965,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            179.94353208816776,
+            -1528.5015278092965,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            182.54160829952107,
+            -1530.0015278092965,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            185.1396845108744,
+            -1531.5015278092965,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            187.7377607222277,
+            -1533.0015278092965,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            190.33583693358102,
+            -1534.5015278092965,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            192.93391314493434,
+            -1536.0015278092965,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            195.53198935628765,
+            -1537.5015278092965,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            198.13006556764097,
+            -1539.0015278092965,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            200.72814177899429,
+            -1540.5015278092965,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            203.3262179903476,
+            -1542.0015278092965,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            205.92429420170092,
+            -1543.5015278092965,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            208.52237041305423,
+            -1545.0015278092965,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            211.12044662440755,
+            -1546.5015278092965,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            213.71852283576087,
+            -1548.0015278092965,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            216.31659904711418,
+            -1549.5015278092965,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            218.9146752584675,
+            -1551.0015278092965,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            240.0,
+            -1560.0,
+            -206.55
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_3-45-23_1322623287/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_3-45-23_1322623287/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1f6cd9e63defd61a984914b21914ba2d4e86b3f0
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_3-45-23_1322623287/pose.jsonl
@@ -0,0 +1,483 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -470.0505254629827,
+            -2398.847900361571,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -472.648601674336,
+            -2397.347900361571,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -475.24667788568934,
+            -2395.847900361571,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -477.84475409704265,
+            -2394.347900361571,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -480.44283030839597,
+            -2392.847900361571,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -483.0409065197493,
+            -2391.347900361571,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -485.6389827311026,
+            -2389.847900361571,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -488.2370589424559,
+            -2388.347900361571,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -490.83513515380923,
+            -2386.847900361571,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -493.43321136516255,
+            -2385.347900361571,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -496.03128757651587,
+            -2383.847900361571,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -498.6293637878692,
+            -2382.347900361571,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -501.2274399992225,
+            -2380.847900361571,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -503.8255162105758,
+            -2379.347900361571,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -506.42359242192913,
+            -2377.847900361571,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -509.02166863328245,
+            -2376.347900361571,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -511.61974484463576,
+            -2374.847900361571,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -514.2178210559891,
+            -2373.347900361571,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -516.8158972673425,
+            -2371.847900361571,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -516.8158972673425,
+            -2371.847900361571,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -518.3158972673425,
+            -2369.249824150218,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -519.8158972673425,
+            -2366.651747938865,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -521.3158972673425,
+            -2364.0536717275118,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -522.8158972673425,
+            -2361.4555955161586,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -524.3158972673425,
+            -2358.8575193048055,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -525.8158972673425,
+            -2356.2594430934523,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -527.3158972673425,
+            -2353.661366882099,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -528.8158972673425,
+            -2351.063290670746,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -530.3158972673425,
+            -2348.465214459393,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -531.8158972673425,
+            -2345.8671382480397,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -533.3158972673425,
+            -2343.2690620366866,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -534.8158972673425,
+            -2340.6709858253334,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -536.3158972673425,
+            -2338.0729096139803,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -537.8158972673425,
+            -2335.474833402627,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -539.3158972673425,
+            -2332.876757191274,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -540.8158972673425,
+            -2330.278680979921,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -572.0,
+            -2300.0,
+            -213.853
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_3-5-3_1172063133/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_3-5-3_1172063133/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c5f6279b399362bf99d1327197b368b33041bc59
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_3-5-3_1172063133/pose.jsonl
@@ -0,0 +1,509 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1080.480959811241,
+            -2190.2173940246407,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1081.980959811241,
+            -2192.815470235994,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1083.480959811241,
+            -2195.413546447347,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1084.980959811241,
+            -2198.0116226587,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1086.480959811241,
+            -2200.6096988700533,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1087.980959811241,
+            -2203.2077750814065,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1089.480959811241,
+            -2205.8058512927596,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1090.980959811241,
+            -2208.4039275041127,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1092.480959811241,
+            -2211.002003715466,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1093.980959811241,
+            -2213.600079926819,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1095.480959811241,
+            -2216.198156138172,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1096.980959811241,
+            -2218.7962323495253,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1098.480959811241,
+            -2221.3943085608785,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1099.980959811241,
+            -2223.9923847722316,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1101.480959811241,
+            -2226.5904609835848,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1102.980959811241,
+            -2229.188537194938,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1104.480959811241,
+            -2231.786613406291,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1105.980959811241,
+            -2234.384689617644,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1107.480959811241,
+            -2236.9827658289973,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1108.980959811241,
+            -2239.5808420403505,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1110.480959811241,
+            -2242.1789182517036,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1111.980959811241,
+            -2244.776994463057,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1113.480959811241,
+            -2247.37507067441,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1114.980959811241,
+            -2249.973146885763,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1116.480959811241,
+            -2252.571223097116,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1117.980959811241,
+            -2255.1692993084694,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1119.480959811241,
+            -2257.7673755198225,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1120.980959811241,
+            -2260.3654517311757,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1122.480959811241,
+            -2262.963527942529,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1123.980959811241,
+            -2265.561604153882,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1125.480959811241,
+            -2268.159680365235,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1126.980959811241,
+            -2270.7577565765882,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1128.480959811241,
+            -2273.3558327879414,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1129.980959811241,
+            -2275.9539089992945,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1131.480959811241,
+            -2278.5519852106477,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1131.480959811241,
+            -2278.5519852106477,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915224
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1134.0790360225944,
+            -2280.0519852106477,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1136.6771122339478,
+            -2281.5519852106477,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1156.0,
+            -2312.0,
+            -213.669
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_3-56-11_1390598089/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_3-56-11_1390598089/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..26cfc9fad63aac339e889cdcfd8658299ecbdb8d
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_3-56-11_1390598089/pose.jsonl
@@ -0,0 +1,561 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            383.23445674443025,
+            -1280.3408096033895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            380.23445674443025,
+            -1280.3408096033895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            377.23445674443025,
+            -1280.3408096033895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            374.23445674443025,
+            -1280.3408096033895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            371.23445674443025,
+            -1280.3408096033895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            368.23445674443025,
+            -1280.3408096033895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            365.23445674443025,
+            -1280.3408096033895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            362.23445674443025,
+            -1280.3408096033895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            359.23445674443025,
+            -1280.3408096033895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            356.23445674443025,
+            -1280.3408096033895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            353.23445674443025,
+            -1280.3408096033895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            350.23445674443025,
+            -1280.3408096033895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            347.23445674443025,
+            -1280.3408096033895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            344.23445674443025,
+            -1280.3408096033895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            341.23445674443025,
+            -1280.3408096033895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            338.23445674443025,
+            -1280.3408096033895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            335.23445674443025,
+            -1280.3408096033895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            332.23445674443025,
+            -1280.3408096033895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            329.23445674443025,
+            -1280.3408096033895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            326.23445674443025,
+            -1280.3408096033895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            323.23445674443025,
+            -1280.3408096033895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            320.23445674443025,
+            -1280.3408096033895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            317.23445674443025,
+            -1280.3408096033895,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            317.23445674443025,
+            -1280.3408096033895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            314.63638053307693,
+            -1281.8408096033895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            312.0383043217236,
+            -1283.3408096033895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            309.4402281103703,
+            -1284.8408096033895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            306.842151899017,
+            -1286.3408096033895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            304.24407568766367,
+            -1287.8408096033895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            301.64599947631035,
+            -1289.3408096033895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            299.04792326495703,
+            -1290.8408096033895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            296.4498470536037,
+            -1292.3408096033895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            293.8517708422504,
+            -1293.8408096033895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            291.2536946308971,
+            -1295.3408096033895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            288.65561841954377,
+            -1296.8408096033895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            286.05754220819045,
+            -1298.3408096033895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            283.45946599683714,
+            -1299.8408096033895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            280.8613897854838,
+            -1301.3408096033895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            278.2633135741305,
+            -1302.8408096033895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            275.6652373627772,
+            -1304.3408096033895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            273.0671611514239,
+            -1305.8408096033895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            270.46908494007056,
+            -1307.3408096033895,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            240.0,
+            -1316.0,
+            -219.268
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_3-58-49_1230769829/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_3-58-49_1230769829/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9a5e0432757dd1e63c52ff4f9743cb2ece03ead6
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_3-58-49_1230769829/pose.jsonl
@@ -0,0 +1,483 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1266.5748253207046,
+            -2384.441798184154,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1263.9767491093512,
+            -2382.941798184154,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1261.3786728979978,
+            -2381.441798184154,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1258.7805966866445,
+            -2379.941798184154,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1256.182520475291,
+            -2378.441798184154,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1253.5844442639377,
+            -2376.941798184154,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1250.9863680525843,
+            -2375.441798184154,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1248.388291841231,
+            -2373.941798184154,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1245.7902156298776,
+            -2372.441798184154,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1243.1921394185242,
+            -2370.941798184154,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1240.5940632071708,
+            -2369.441798184154,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1237.9959869958175,
+            -2367.941798184154,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1235.397910784464,
+            -2366.441798184154,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1232.7998345731107,
+            -2364.941798184154,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1230.2017583617574,
+            -2363.441798184154,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1227.603682150404,
+            -2361.941798184154,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1225.0056059390506,
+            -2360.441798184154,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1222.4075297276972,
+            -2358.941798184154,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1219.8094535163439,
+            -2357.441798184154,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1217.2113773049905,
+            -2355.941798184154,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1214.6133010936371,
+            -2354.441798184154,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1212.0152248822837,
+            -2352.941798184154,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1209.4171486709304,
+            -2351.441798184154,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1206.819072459577,
+            -2349.941798184154,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1204.2209962482236,
+            -2348.441798184154,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1201.6229200368703,
+            -2346.941798184154,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1199.0248438255169,
+            -2345.441798184154,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1196.4267676141635,
+            -2343.941798184154,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1193.8286914028101,
+            -2342.441798184154,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1191.2306151914568,
+            -2340.941798184154,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1188.6325389801034,
+            -2339.441798184154,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1188.6325389801034,
+            -2339.441798184154,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1187.1325389801034,
+            -2336.8437219728007,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1185.6325389801034,
+            -2334.2456457614476,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1184.1325389801034,
+            -2331.6475695500944,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1182.6325389801034,
+            -2329.0494933387413,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1156.0,
+            -2312.0,
+            -213.669
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_3-6-59_2053232475/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_3-6-59_2053232475/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..33579f8fa71d20bed6b4bf1196fb1795aae6c4dd
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_3-6-59_2053232475/pose.jsonl
@@ -0,0 +1,392 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            246.8519101612033,
+            -1158.4476356348737,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            248.3519101612033,
+            -1161.045711846227,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            249.8519101612033,
+            -1163.6437880575804,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            251.3519101612033,
+            -1166.2418642689338,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            252.8519101612033,
+            -1168.8399404802872,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            254.3519101612033,
+            -1171.4380166916405,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            254.3519101612033,
+            -1171.4380166916405,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            256.9499863725566,
+            -1172.9380166916405,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            259.54806258390994,
+            -1174.4380166916405,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            262.14613879526325,
+            -1175.9380166916405,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            264.74421500661657,
+            -1177.4380166916405,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            267.3422912179699,
+            -1178.9380166916405,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            269.9403674293232,
+            -1180.4380166916405,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            272.5384436406765,
+            -1181.9380166916405,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            275.13651985202983,
+            -1183.4380166916405,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            277.73459606338315,
+            -1184.9380166916405,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            280.33267227473647,
+            -1186.4380166916405,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            282.9307484860898,
+            -1187.9380166916405,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            285.5288246974431,
+            -1189.4380166916405,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            288.1269009087964,
+            -1190.9380166916405,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            290.72497712014973,
+            -1192.4380166916405,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            293.32305333150305,
+            -1193.9380166916405,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            295.92112954285636,
+            -1195.4380166916405,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            298.5192057542097,
+            -1196.9380166916405,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            301.117281965563,
+            -1198.4380166916405,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            303.7153581769163,
+            -1199.9380166916405,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            306.3134343882696,
+            -1201.4380166916405,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            308.91151059962294,
+            -1202.9380166916405,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            311.50958681097626,
+            -1204.4380166916405,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            332.0,
+            -1220.0,
+            -225.684
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_4-10-35_845954166/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_4-10-35_845954166/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2ff435de4102d99b4616718b3eefea9ea698abf4
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_4-10-35_845954166/pose.jsonl
@@ -0,0 +1,353 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -585.3419613620509,
+            -2254.710477689076,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -587.9400375734042,
+            -2253.210477689076,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -590.5381137847576,
+            -2251.710477689076,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -593.1361899961109,
+            -2250.210477689076,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -595.7342662074643,
+            -2248.710477689076,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -598.3323424188177,
+            -2247.210477689076,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -600.9304186301711,
+            -2245.710477689076,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -603.5284948415244,
+            -2244.210477689076,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -606.1265710528778,
+            -2242.710477689076,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -608.7246472642312,
+            -2241.210477689076,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -611.3227234755846,
+            -2239.710477689076,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -613.9207996869379,
+            -2238.210477689076,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -616.5188758982913,
+            -2236.710477689076,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -619.1169521096447,
+            -2235.210477689076,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -621.715028320998,
+            -2233.710477689076,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -624.3131045323514,
+            -2232.210477689076,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -626.9111807437048,
+            -2230.710477689076,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -629.5092569550582,
+            -2229.210477689076,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -632.1073331664115,
+            -2227.710477689076,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -634.7054093777649,
+            -2226.210477689076,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -637.3034855891183,
+            -2224.710477689076,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -639.9015618004717,
+            -2223.210477689076,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -642.499638011825,
+            -2221.710477689076,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -642.499638011825,
+            -2221.710477689076,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -645.499638011825,
+            -2221.710477689076,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -648.499638011825,
+            -2221.710477689076,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -680.0,
+            -2208.0,
+            -225.684
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_4-13-21_1987106312/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_4-13-21_1987106312/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2c70c3cac25aa4801cd14e380e7a041b5539e91e
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_4-13-21_1987106312/pose.jsonl
@@ -0,0 +1,353 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -764.1719483666308,
+            -1979.2556237859326,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -762.6719483666308,
+            -1976.6575475745792,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -761.1719483666308,
+            -1974.0594713632258,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -759.6719483666308,
+            -1971.4613951518725,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -758.1719483666308,
+            -1968.863318940519,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -756.6719483666308,
+            -1966.2652427291657,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -755.1719483666308,
+            -1963.6671665178123,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -753.6719483666308,
+            -1961.069090306459,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -752.1719483666308,
+            -1958.4710140951056,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -750.6719483666308,
+            -1955.8729378837522,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -749.1719483666308,
+            -1953.2748616723989,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -747.6719483666308,
+            -1950.6767854610455,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -746.1719483666308,
+            -1948.078709249692,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -744.6719483666308,
+            -1945.4806330383387,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -743.1719483666308,
+            -1942.8825568269854,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -741.6719483666308,
+            -1940.284480615632,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -740.1719483666308,
+            -1937.6864044042786,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -738.6719483666308,
+            -1935.0883281929252,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -737.1719483666308,
+            -1932.4902519815719,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -735.6719483666308,
+            -1929.8921757702185,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -734.1719483666308,
+            -1927.2940995588651,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -734.1719483666308,
+            -1927.2940995588651,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -731.5738721552775,
+            -1925.7940995588651,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -728.9757959439241,
+            -1924.2940995588651,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -726.3777197325708,
+            -1922.7940995588651,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -723.7796435212174,
+            -1921.2940995588651,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -704.0,
+            -1896.0,
+            -203.555
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_4-13-37_1219933931/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_4-13-37_1219933931/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2f2239c293e96bcf1594262dd02a661da093ff1d
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_4-13-37_1219933931/pose.jsonl
@@ -0,0 +1,535 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -341.1042351371852,
+            -1328.1897876469347,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -339.6042351371852,
+            -1330.7878638582881,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -338.1042351371852,
+            -1333.3859400696415,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -336.6042351371852,
+            -1335.9840162809949,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -335.1042351371852,
+            -1338.5820924923482,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -333.6042351371852,
+            -1341.1801687037016,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -332.1042351371852,
+            -1343.778244915055,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -330.6042351371852,
+            -1346.3763211264084,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -329.1042351371852,
+            -1348.9743973377617,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -327.6042351371852,
+            -1351.572473549115,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -326.1042351371852,
+            -1354.1705497604685,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -324.6042351371852,
+            -1356.7686259718218,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -323.1042351371852,
+            -1359.3667021831752,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -321.6042351371852,
+            -1361.9647783945286,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -320.1042351371852,
+            -1364.562854605882,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -318.6042351371852,
+            -1367.1609308172353,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -317.1042351371852,
+            -1369.7590070285887,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -315.6042351371852,
+            -1372.357083239942,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -314.1042351371852,
+            -1374.9551594512955,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -312.6042351371852,
+            -1377.5532356626488,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -311.1042351371852,
+            -1380.1513118740022,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -309.6042351371852,
+            -1382.7493880853556,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -308.1042351371852,
+            -1385.347464296709,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -306.6042351371852,
+            -1387.9455405080623,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -305.1042351371852,
+            -1390.5436167194157,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -303.6042351371852,
+            -1393.141692930769,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -302.1042351371852,
+            -1395.7397691421224,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -300.6042351371852,
+            -1398.3378453534758,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -299.1042351371852,
+            -1400.9359215648292,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -297.6042351371852,
+            -1403.5339977761826,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -296.1042351371852,
+            -1406.132073987536,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -294.6042351371852,
+            -1408.7301501988893,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -293.1042351371852,
+            -1411.3282264102427,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -291.6042351371852,
+            -1413.926302621596,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -290.1042351371852,
+            -1416.5243788329494,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -288.6042351371852,
+            -1419.1224550443028,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -287.1042351371852,
+            -1421.7205312556562,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -285.6042351371852,
+            -1424.3186074670095,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -284.1042351371852,
+            -1426.916683678363,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -282.6042351371852,
+            -1429.5147598897163,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -268.0,
+            -1452.0,
+            -201.911
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_4-24-18_2081362124/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_4-24-18_2081362124/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c172a3bd3a42e9437c97f1a02396a2f62e4d6613
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_4-24-18_2081362124/pose.jsonl
@@ -0,0 +1,431 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -156.46346076654766,
+            -1421.8955463417037,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -159.06153697790097,
+            -1423.3955463417037,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -161.6596131892543,
+            -1424.8955463417037,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -164.2576894006076,
+            -1426.3955463417037,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -166.85576561196092,
+            -1427.8955463417037,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -169.45384182331424,
+            -1429.3955463417037,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -172.05191803466755,
+            -1430.8955463417037,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -174.64999424602087,
+            -1432.3955463417037,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -177.24807045737418,
+            -1433.8955463417037,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -179.8461466687275,
+            -1435.3955463417037,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -182.44422288008082,
+            -1436.8955463417037,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -185.04229909143413,
+            -1438.3955463417037,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -187.64037530278745,
+            -1439.8955463417037,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -190.23845151414076,
+            -1441.3955463417037,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -192.83652772549408,
+            -1442.8955463417037,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -195.4346039368474,
+            -1444.3955463417037,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -195.4346039368474,
+            -1444.3955463417037,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -198.4346039368474,
+            -1444.3955463417037,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -201.4346039368474,
+            -1444.3955463417037,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -204.4346039368474,
+            -1444.3955463417037,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -207.4346039368474,
+            -1444.3955463417037,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -210.4346039368474,
+            -1444.3955463417037,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -213.4346039368474,
+            -1444.3955463417037,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -216.4346039368474,
+            -1444.3955463417037,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -219.4346039368474,
+            -1444.3955463417037,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -222.4346039368474,
+            -1444.3955463417037,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -225.4346039368474,
+            -1444.3955463417037,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -228.4346039368474,
+            -1444.3955463417037,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -231.4346039368474,
+            -1444.3955463417037,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -234.4346039368474,
+            -1444.3955463417037,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -237.4346039368474,
+            -1444.3955463417037,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -240.4346039368474,
+            -1444.3955463417037,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -268.0,
+            -1452.0,
+            -201.911
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_4-26-47_1588695568/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_4-26-47_1588695568/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1a508a8987486206092411295032518d826fc7ef
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_4-26-47_1588695568/pose.jsonl
@@ -0,0 +1,405 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -894.6808533966904,
+            -3034.6522191764175,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -896.1808533966904,
+            -3032.0541429650643,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -897.6808533966904,
+            -3029.456066753711,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -899.1808533966904,
+            -3026.857990542358,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -900.6808533966904,
+            -3024.259914331005,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -902.1808533966904,
+            -3021.6618381196517,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -903.6808533966904,
+            -3019.0637619082986,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -905.1808533966904,
+            -3016.4656856969455,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -906.6808533966904,
+            -3013.8676094855923,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -908.1808533966904,
+            -3011.269533274239,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -909.6808533966904,
+            -3008.671457062886,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -911.1808533966904,
+            -3006.073380851533,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -912.6808533966904,
+            -3003.4753046401797,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -914.1808533966904,
+            -3000.8772284288266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -915.6808533966904,
+            -2998.2791522174734,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -917.1808533966904,
+            -2995.6810760061203,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -918.6808533966904,
+            -2993.082999794767,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -920.1808533966904,
+            -2990.484923583414,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -921.6808533966904,
+            -2987.886847372061,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -923.1808533966904,
+            -2985.2887711607077,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -924.6808533966904,
+            -2982.6906949493546,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -926.1808533966904,
+            -2980.0926187380014,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -927.6808533966904,
+            -2977.4945425266483,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -927.6808533966904,
+            -2977.4945425266483,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.570796326794925
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -927.6808533966904,
+            -2974.4945425266483,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -927.6808533966904,
+            -2971.4945425266483,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -927.6808533966904,
+            -2968.4945425266483,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -927.6808533966904,
+            -2965.4945425266483,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -927.6808533966904,
+            -2962.4945425266483,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -927.6808533966904,
+            -2959.4945425266483,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -940.0,
+            -2936.0,
+            -205.779
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_4-28-15_442982639/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_4-28-15_442982639/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b2ec62a4e9cc7d373312c5d1081f2ca01659d58d
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_4-28-15_442982639/pose.jsonl
@@ -0,0 +1,470 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            240.80821780837135,
+            -1497.3582314624923,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            240.80821780837135,
+            -1494.3582314624923,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            240.80821780837135,
+            -1491.3582314624923,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            240.80821780837135,
+            -1488.3582314624923,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            240.80821780837135,
+            -1485.3582314624923,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            240.80821780837135,
+            -1482.3582314624923,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            240.80821780837135,
+            -1479.3582314624923,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            240.80821780837135,
+            -1476.3582314624923,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            240.80821780837135,
+            -1473.3582314624923,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            240.80821780837135,
+            -1470.3582314624923,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            240.80821780837135,
+            -1467.3582314624923,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            240.80821780837135,
+            -1464.3582314624923,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            240.80821780837135,
+            -1461.3582314624923,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            240.80821780837135,
+            -1458.3582314624923,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            240.80821780837135,
+            -1455.3582314624923,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            240.80821780837135,
+            -1452.3582314624923,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            240.80821780837135,
+            -1449.3582314624923,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            240.80821780837135,
+            -1446.3582314624923,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            240.80821780837135,
+            -1443.3582314624923,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            240.80821780837135,
+            -1440.3582314624923,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            240.80821780837135,
+            -1437.3582314624923,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            240.80821780837135,
+            -1434.3582314624923,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            240.80821780837135,
+            -1431.3582314624923,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            240.80821780837135,
+            -1428.3582314624923,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            240.80821780837135,
+            -1425.3582314624923,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            240.80821780837135,
+            -1422.3582314624923,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            240.80821780837135,
+            -1419.3582314624923,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            240.80821780837135,
+            -1416.3582314624923,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            240.80821780837135,
+            -1413.3582314624923,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            240.80821780837135,
+            -1410.3582314624923,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            240.80821780837135,
+            -1407.3582314624923,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            240.80821780837135,
+            -1404.3582314624923,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            240.80821780837135,
+            -1401.3582314624923,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            240.80821780837135,
+            -1398.3582314624923,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            240.80821780837135,
+            -1395.3582314624923,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            240.0,
+            -1372.0,
+            -205.963
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_4-39-34_707255825/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_4-39-34_707255825/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..00dcfe1e2394e2878d15b155278d77c7d4be1746
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_4-39-34_707255825/pose.jsonl
@@ -0,0 +1,444 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -777.0374296404258,
+            -2266.067813842863,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -774.0374296404258,
+            -2266.067813842863,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -774.0374296404258,
+            -2266.067813842863,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -774.0374296404258,
+            -2266.067813842863,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -772.5374296404258,
+            -2263.46973763151,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -771.0374296404258,
+            -2260.8716614201567,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -769.5374296404258,
+            -2258.2735852088035,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -768.0374296404258,
+            -2255.6755089974504,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -766.5374296404258,
+            -2253.0774327860972,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -766.5374296404258,
+            -2253.0774327860972,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982706
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -763.9393534290725,
+            -2251.5774327860972,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -761.3412772177192,
+            -2250.0774327860972,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -758.7432010063658,
+            -2248.5774327860972,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -756.1451247950124,
+            -2247.0774327860972,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -753.547048583659,
+            -2245.5774327860972,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -750.9489723723057,
+            -2244.0774327860972,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -748.3508961609523,
+            -2242.5774327860972,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -745.7528199495989,
+            -2241.0774327860972,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -743.1547437382455,
+            -2239.5774327860972,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -740.5566675268922,
+            -2238.0774327860972,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -737.9585913155388,
+            -2236.5774327860972,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -735.3605151041854,
+            -2235.0774327860972,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -732.762438892832,
+            -2233.5774327860972,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -730.1643626814787,
+            -2232.0774327860972,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -727.5662864701253,
+            -2230.5774327860972,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -724.9682102587719,
+            -2229.0774327860972,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -722.3701340474186,
+            -2227.5774327860972,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -719.7720578360652,
+            -2226.0774327860972,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -717.1739816247118,
+            -2224.5774327860972,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -714.5759054133584,
+            -2223.0774327860972,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -714.5759054133584,
+            -2223.0774327860972,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -9.43689570931383e-15
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -711.5759054133584,
+            -2223.0774327860972,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -708.5759054133584,
+            -2223.0774327860972,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -680.0,
+            -2208.0,
+            -225.684
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_4-39-54_922587542/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_4-39-54_922587542/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b7e505a2b4e9dede55441c2ba71c14e9cfe69cb6
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_4-39-54_922587542/pose.jsonl
@@ -0,0 +1,561 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -761.2300558770693,
+            -1811.8755723481104,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -759.7300558770693,
+            -1814.4736485594638,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -758.2300558770693,
+            -1817.0717247708171,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -756.7300558770693,
+            -1819.6698009821705,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -755.2300558770693,
+            -1822.2678771935239,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -753.7300558770693,
+            -1824.8659534048772,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -752.2300558770693,
+            -1827.4640296162306,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -750.7300558770693,
+            -1830.062105827584,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -749.2300558770693,
+            -1832.6601820389374,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -747.7300558770693,
+            -1835.2582582502907,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -746.2300558770693,
+            -1837.856334461644,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -744.7300558770693,
+            -1840.4544106729975,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -743.2300558770693,
+            -1843.0524868843509,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -741.7300558770693,
+            -1845.6505630957042,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -740.2300558770693,
+            -1848.2486393070576,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -738.7300558770693,
+            -1850.846715518411,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -737.2300558770693,
+            -1853.4447917297643,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -735.7300558770693,
+            -1856.0428679411177,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -734.2300558770693,
+            -1858.640944152471,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -732.7300558770693,
+            -1861.2390203638245,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -731.2300558770693,
+            -1863.8370965751778,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -729.7300558770693,
+            -1866.4351727865312,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -728.2300558770693,
+            -1869.0332489978846,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -726.7300558770693,
+            -1871.631325209238,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -725.2300558770693,
+            -1874.2294014205913,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -723.7300558770693,
+            -1876.8274776319447,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -722.2300558770693,
+            -1879.425553843298,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -720.7300558770693,
+            -1882.0236300546514,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -719.2300558770693,
+            -1884.6217062660048,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -719.2300558770693,
+            -1884.6217062660048,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -719.2300558770693,
+            -1887.6217062660048,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -719.2300558770693,
+            -1890.6217062660048,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -719.2300558770693,
+            -1893.6217062660048,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -719.2300558770693,
+            -1896.6217062660048,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -719.2300558770693,
+            -1899.6217062660048,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -719.2300558770693,
+            -1902.6217062660048,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -719.2300558770693,
+            -1905.6217062660048,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -719.2300558770693,
+            -1908.6217062660048,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -719.2300558770693,
+            -1911.6217062660048,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -719.2300558770693,
+            -1914.6217062660048,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -719.2300558770693,
+            -1917.6217062660048,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -719.2300558770693,
+            -1920.6217062660048,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -712.0,
+            -1940.0,
+            -205.963
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_4-4-9_2125023787/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_4-4-9_2125023787/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c3d78c28a7b3945323f7165b8490fa89bd5007f9
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_4-4-9_2125023787/pose.jsonl
@@ -0,0 +1,405 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -192.14971687655208,
+            -1376.3356772018194,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -194.7477930879054,
+            -1377.8356772018194,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -197.3458692992587,
+            -1379.3356772018194,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -199.94394551061202,
+            -1380.8356772018194,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -202.54202172196534,
+            -1382.3356772018194,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -205.14009793331866,
+            -1383.8356772018194,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -207.73817414467197,
+            -1385.3356772018194,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -210.3362503560253,
+            -1386.8356772018194,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -212.9343265673786,
+            -1388.3356772018194,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -215.53240277873192,
+            -1389.8356772018194,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -218.13047899008524,
+            -1391.3356772018194,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -220.72855520143855,
+            -1392.8356772018194,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -220.72855520143855,
+            -1392.8356772018194,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -222.22855520143855,
+            -1395.4337534131728,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -223.72855520143855,
+            -1398.0318296245262,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -225.22855520143855,
+            -1400.6299058358795,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -226.72855520143855,
+            -1403.227982047233,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -228.22855520143855,
+            -1405.8260582585863,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -229.72855520143855,
+            -1408.4241344699396,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -231.22855520143855,
+            -1411.022210681293,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -232.72855520143855,
+            -1413.6202868926464,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -234.22855520143855,
+            -1416.2183631039998,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -235.72855520143855,
+            -1418.8164393153531,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -237.22855520143855,
+            -1421.4145155267065,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -238.72855520143855,
+            -1424.0125917380599,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -240.22855520143855,
+            -1426.6106679494133,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -241.72855520143855,
+            -1429.2087441607666,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -241.72855520143855,
+            -1429.2087441607666,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -244.32663141279187,
+            -1430.7087441607666,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -246.92470762414519,
+            -1432.2087441607666,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -268.0,
+            -1452.0,
+            -201.911
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_4-40-19_44470216/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_4-40-19_44470216/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8003628939f17e159eefd00268ded14691b4ef20
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_4-40-19_44470216/pose.jsonl
@@ -0,0 +1,561 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            280.6298071902763,
+            -1430.5504940626638,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            279.1298071902763,
+            -1433.1485702740172,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            277.6298071902763,
+            -1435.7466464853705,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            276.1298071902763,
+            -1438.344722696724,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            274.6298071902763,
+            -1440.9427989080773,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            273.1298071902763,
+            -1443.5408751194307,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            271.6298071902763,
+            -1446.138951330784,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            270.1298071902763,
+            -1448.7370275421374,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            268.6298071902763,
+            -1451.3351037534908,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            267.1298071902763,
+            -1453.9331799648442,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            265.6298071902763,
+            -1456.5312561761975,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            264.1298071902763,
+            -1459.129332387551,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            262.6298071902763,
+            -1461.7274085989043,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            261.1298071902763,
+            -1464.3254848102576,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            259.6298071902763,
+            -1466.923561021611,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            258.1298071902763,
+            -1469.5216372329644,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            256.6298071902763,
+            -1472.1197134443178,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            255.12980719027632,
+            -1474.7177896556711,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            253.62980719027632,
+            -1477.3158658670245,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            252.12980719027632,
+            -1479.9139420783779,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            250.62980719027632,
+            -1482.5120182897313,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            249.12980719027632,
+            -1485.1100945010846,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            247.62980719027632,
+            -1487.708170712438,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            247.62980719027632,
+            -1487.708170712438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            247.62980719027632,
+            -1490.708170712438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            247.62980719027632,
+            -1493.708170712438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            247.62980719027632,
+            -1496.708170712438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            247.62980719027632,
+            -1499.708170712438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            247.62980719027632,
+            -1502.708170712438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            247.62980719027632,
+            -1505.708170712438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            247.62980719027632,
+            -1508.708170712438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            247.62980719027632,
+            -1511.708170712438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            247.62980719027632,
+            -1514.708170712438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            247.62980719027632,
+            -1517.708170712438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            247.62980719027632,
+            -1520.708170712438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            247.62980719027632,
+            -1523.708170712438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            247.62980719027632,
+            -1526.708170712438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            247.62980719027632,
+            -1529.708170712438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            247.62980719027632,
+            -1532.708170712438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            247.62980719027632,
+            -1535.708170712438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            247.62980719027632,
+            -1538.708170712438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            247.62980719027632,
+            -1541.708170712438,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            240.0,
+            -1560.0,
+            -206.55
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_4-43-51_192048860/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_4-43-51_192048860/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3ba552c8ed226aa97d427b5f4b68156f2208037e
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_4-43-51_192048860/pose.jsonl
@@ -0,0 +1,561 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            743.3359878358328,
+            -1459.5163880195255,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            740.7379116244795,
+            -1458.0163880195255,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            738.1398354131261,
+            -1456.5163880195255,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            735.5417592017727,
+            -1455.0163880195255,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            732.9436829904193,
+            -1453.5163880195255,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            730.345606779066,
+            -1452.0163880195255,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            727.7475305677126,
+            -1450.5163880195255,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            725.1494543563592,
+            -1449.0163880195255,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            722.5513781450059,
+            -1447.5163880195255,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            719.9533019336525,
+            -1446.0163880195255,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            717.3552257222991,
+            -1444.5163880195255,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            714.7571495109457,
+            -1443.0163880195255,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            712.1590732995924,
+            -1441.5163880195255,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            709.560997088239,
+            -1440.0163880195255,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            706.9629208768856,
+            -1438.5163880195255,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            704.3648446655322,
+            -1437.0163880195255,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            701.7667684541789,
+            -1435.5163880195255,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            699.1686922428255,
+            -1434.0163880195255,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            696.5706160314721,
+            -1432.5163880195255,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            693.9725398201188,
+            -1431.0163880195255,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            691.3744636087654,
+            -1429.5163880195255,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            691.3744636087654,
+            -1429.5163880195255,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            689.8744636087654,
+            -1426.9183118081721,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            688.3744636087654,
+            -1424.3202355968187,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            686.8744636087654,
+            -1421.7221593854654,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            685.3744636087654,
+            -1419.124083174112,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            683.8744636087654,
+            -1416.5260069627586,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            682.3744636087654,
+            -1413.9279307514053,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            680.8744636087654,
+            -1411.3298545400519,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            679.3744636087654,
+            -1408.7317783286985,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            677.8744636087654,
+            -1406.1337021173451,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            676.3744636087654,
+            -1403.5356259059918,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            674.8744636087654,
+            -1400.9375496946384,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            673.3744636087654,
+            -1398.339473483285,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            671.8744636087654,
+            -1395.7413972719316,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            670.3744636087654,
+            -1393.1433210605783,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            668.8744636087654,
+            -1390.545244849225,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            667.3744636087654,
+            -1387.9471686378715,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            665.8744636087654,
+            -1385.3490924265182,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            664.3744636087654,
+            -1382.7510162151648,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            662.8744636087654,
+            -1380.1529400038114,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            661.3744636087654,
+            -1377.554863792458,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            640.0,
+            -1360.0,
+            -201.594
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_4-47-16_1018041598/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_4-47-16_1018041598/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d70bfd332718f7f664d0a0bf8ee95538d12ffaeb
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_4-47-16_1018041598/pose.jsonl
@@ -0,0 +1,470 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -268.3676468318645,
+            -1491.7595896689204,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -265.76957062051116,
+            -1493.2595896689204,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -265.76957062051116,
+            -1493.2595896689204,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -264.26957062051116,
+            -1495.8576658802738,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -262.76957062051116,
+            -1498.4557420916271,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -261.26957062051116,
+            -1501.0538183029805,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -259.76957062051116,
+            -1503.651894514334,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -258.26957062051116,
+            -1506.2499707256873,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -256.76957062051116,
+            -1508.8480469370406,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -256.76957062051116,
+            -1508.8480469370406,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -254.17149440915784,
+            -1510.3480469370406,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -251.57341819780453,
+            -1511.8480469370406,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -248.9753419864512,
+            -1513.3480469370406,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -246.3772657750979,
+            -1514.8480469370406,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -243.77918956374458,
+            -1516.3480469370406,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -241.18111335239126,
+            -1517.8480469370406,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -238.58303714103795,
+            -1519.3480469370406,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -235.98496092968463,
+            -1520.8480469370406,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -233.38688471833132,
+            -1522.3480469370406,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -230.788808506978,
+            -1523.8480469370406,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -228.19073229562468,
+            -1525.3480469370406,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -225.59265608427137,
+            -1526.8480469370406,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -222.99457987291805,
+            -1528.3480469370406,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -220.39650366156474,
+            -1529.8480469370406,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -217.79842745021142,
+            -1531.3480469370406,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -215.2003512388581,
+            -1532.8480469370406,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -212.6022750275048,
+            -1534.3480469370406,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -210.00419881615147,
+            -1535.8480469370406,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -207.40612260479816,
+            -1537.3480469370406,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -204.80804639344484,
+            -1538.8480469370406,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -202.20997018209152,
+            -1540.3480469370406,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -199.6118939707382,
+            -1541.8480469370406,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -197.0138177593849,
+            -1543.3480469370406,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -194.41574154803158,
+            -1544.8480469370406,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -191.81766533667826,
+            -1546.3480469370406,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -180.0,
+            -1556.0,
+            -205.885
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_4-49-4_1281944976/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_4-49-4_1281944976/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..70845d762f8b9a115b24feafaac1cbf01ba9ee6b
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_4-49-4_1281944976/pose.jsonl
@@ -0,0 +1,457 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -845.2280511246456,
+            -3011.464997455895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -847.826127335999,
+            -3009.964997455895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -850.4242035473524,
+            -3008.464997455895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -853.0222797587057,
+            -3006.964997455895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -855.6203559700591,
+            -3005.464997455895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -858.2184321814125,
+            -3003.964997455895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -860.8165083927659,
+            -3002.464997455895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -863.4145846041192,
+            -3000.964997455895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -866.0126608154726,
+            -2999.464997455895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -868.610737026826,
+            -2997.964997455895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -871.2088132381793,
+            -2996.464997455895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -873.8068894495327,
+            -2994.964997455895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -876.4049656608861,
+            -2993.464997455895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -879.0030418722395,
+            -2991.964997455895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -881.6011180835928,
+            -2990.464997455895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -884.1991942949462,
+            -2988.964997455895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -886.7972705062996,
+            -2987.464997455895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -889.395346717653,
+            -2985.964997455895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -891.9934229290063,
+            -2984.464997455895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -894.5914991403597,
+            -2982.964997455895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -897.1895753517131,
+            -2981.464997455895,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -897.1895753517131,
+            -2981.464997455895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -898.6895753517131,
+            -2978.866921244542,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -900.1895753517131,
+            -2976.268845033189,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -901.6895753517131,
+            -2973.6707688218357,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -903.1895753517131,
+            -2971.0726926104826,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -904.6895753517131,
+            -2968.4746163991294,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -906.1895753517131,
+            -2965.8765401877763,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -907.6895753517131,
+            -2963.278463976423,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -909.1895753517131,
+            -2960.68038776507,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -909.1895753517131,
+            -2960.68038776507,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915224
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -911.7876515630664,
+            -2959.18038776507,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -914.3857277744198,
+            -2957.68038776507,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -916.9838039857732,
+            -2956.18038776507,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -940.0,
+            -2936.0,
+            -205.779
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_4-7-18_1912163036/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_4-7-18_1912163036/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d66cfcfb48516afa1d2159852e9fbc441c8b5c2f
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_4-7-18_1912163036/pose.jsonl
@@ -0,0 +1,366 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            266.1901896796421,
+            -1298.2348173568653,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            267.6901896796421,
+            -1295.636741145512,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            269.1901896796421,
+            -1293.0386649341585,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            270.6901896796421,
+            -1290.4405887228052,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            272.1901896796421,
+            -1287.8425125114518,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            273.6901896796421,
+            -1285.2444363000984,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            275.1901896796421,
+            -1282.646360088745,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            276.6901896796421,
+            -1280.0482838773917,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            278.1901896796421,
+            -1277.4502076660383,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            279.6901896796421,
+            -1274.852131454685,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            281.1901896796421,
+            -1272.2540552433315,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            282.6901896796421,
+            -1269.6559790319782,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            284.1901896796421,
+            -1267.0579028206248,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            285.6901896796421,
+            -1264.4598266092714,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            287.1901896796421,
+            -1261.861750397918,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            288.6901896796421,
+            -1259.2636741865647,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            290.1901896796421,
+            -1256.6655979752113,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            290.1901896796421,
+            -1256.6655979752113,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            292.78826589099543,
+            -1255.1655979752113,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            295.38634210234875,
+            -1253.6655979752113,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            297.98441831370207,
+            -1252.1655979752113,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            300.5824945250554,
+            -1250.6655979752113,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            303.1805707364087,
+            -1249.1655979752113,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            305.778646947762,
+            -1247.6655979752113,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            308.37672315911533,
+            -1246.1655979752113,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            310.97479937046865,
+            -1244.6655979752113,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            313.57287558182196,
+            -1243.1655979752113,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            332.0,
+            -1220.0,
+            -225.684
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_5-10-5_1160063179/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_5-10-5_1160063179/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ae98d5b9fb398dc82091157dc8dbc6c90b06d276
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_5-10-5_1160063179/pose.jsonl
@@ -0,0 +1,548 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            521.6855026446514,
+            -1409.2453512797226,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            524.6855026446514,
+            -1409.2453512797226,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            527.6855026446514,
+            -1409.2453512797226,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            530.6855026446514,
+            -1409.2453512797226,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            533.6855026446514,
+            -1409.2453512797226,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            536.6855026446514,
+            -1409.2453512797226,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            539.6855026446514,
+            -1409.2453512797226,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            542.6855026446514,
+            -1409.2453512797226,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            545.6855026446514,
+            -1409.2453512797226,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            548.6855026446514,
+            -1409.2453512797226,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            551.6855026446514,
+            -1409.2453512797226,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            554.6855026446514,
+            -1409.2453512797226,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            554.6855026446514,
+            -1409.2453512797226,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            557.2835788560046,
+            -1407.7453512797226,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            557.2835788560046,
+            -1407.7453512797226,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            558.7835788560046,
+            -1405.1472750683693,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            560.2835788560046,
+            -1402.5491988570159,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            561.7835788560046,
+            -1399.9511226456625,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            561.7835788560046,
+            -1399.9511226456625,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            564.381655067358,
+            -1398.4511226456625,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            566.9797312787114,
+            -1396.9511226456625,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            569.5778074900647,
+            -1395.4511226456625,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            572.1758837014181,
+            -1393.9511226456625,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            574.7739599127715,
+            -1392.4511226456625,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            577.3720361241249,
+            -1390.9511226456625,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            579.9701123354782,
+            -1389.4511226456625,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            582.5681885468316,
+            -1387.9511226456625,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            585.166264758185,
+            -1386.4511226456625,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            587.7643409695384,
+            -1384.9511226456625,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            590.3624171808917,
+            -1383.4511226456625,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            592.9604933922451,
+            -1381.9511226456625,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            595.5585696035985,
+            -1380.4511226456625,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            598.1566458149518,
+            -1378.9511226456625,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            600.7547220263052,
+            -1377.4511226456625,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            603.3527982376586,
+            -1375.9511226456625,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            605.950874449012,
+            -1374.4511226456625,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            608.5489506603653,
+            -1372.9511226456625,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            611.1470268717187,
+            -1371.4511226456625,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            613.7451030830721,
+            -1369.9511226456625,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            616.3431792944255,
+            -1368.4511226456625,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            618.9412555057788,
+            -1366.9511226456625,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            640.0,
+            -1360.0,
+            -201.594
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_5-11-51_307571472/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_5-11-51_307571472/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7ac93ef77d71cb55e8d7faee7c09d73cbbe3dc0a
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_5-11-51_307571472/pose.jsonl
@@ -0,0 +1,483 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            760.2470503748152,
+            -1411.2559880943413,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            757.6489741634618,
+            -1409.7559880943413,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            755.0508979521085,
+            -1408.2559880943413,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            752.4528217407551,
+            -1406.7559880943413,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            749.8547455294017,
+            -1405.2559880943413,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            747.2566693180484,
+            -1403.7559880943413,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            744.658593106695,
+            -1402.2559880943413,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            742.0605168953416,
+            -1400.7559880943413,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            739.4624406839882,
+            -1399.2559880943413,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            736.8643644726349,
+            -1397.7559880943413,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            734.2662882612815,
+            -1396.2559880943413,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            731.6682120499281,
+            -1394.7559880943413,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            729.0701358385747,
+            -1393.2559880943413,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            726.4720596272214,
+            -1391.7559880943413,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            723.873983415868,
+            -1390.2559880943413,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            721.2759072045146,
+            -1388.7559880943413,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            718.6778309931613,
+            -1387.2559880943413,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            716.0797547818079,
+            -1385.7559880943413,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            713.4816785704545,
+            -1384.2559880943413,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            710.8836023591011,
+            -1382.7559880943413,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            708.2855261477478,
+            -1381.2559880943413,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            705.6874499363944,
+            -1379.7559880943413,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            703.089373725041,
+            -1378.2559880943413,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            700.4912975136876,
+            -1376.7559880943413,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            697.8932213023343,
+            -1375.2559880943413,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            695.2951450909809,
+            -1373.7559880943413,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            695.2951450909809,
+            -1373.7559880943413,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            692.2951450909809,
+            -1373.7559880943413,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            689.2951450909809,
+            -1373.7559880943413,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            686.2951450909809,
+            -1373.7559880943413,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            683.2951450909809,
+            -1373.7559880943413,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            680.2951450909809,
+            -1373.7559880943413,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            677.2951450909809,
+            -1373.7559880943413,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            674.2951450909809,
+            -1373.7559880943413,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            671.2951450909809,
+            -1373.7559880943413,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            668.2951450909809,
+            -1373.7559880943413,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            640.0,
+            -1360.0,
+            -201.594
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_5-18-51_703955951/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_5-18-51_703955951/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a43d70b2d09b13777198b7419e569aef17460b9c
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_5-18-51_703955951/pose.jsonl
@@ -0,0 +1,535 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -839.7608164276564,
+            -3085.811880837545,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -842.3588926390098,
+            -3087.311880837545,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -844.9569688503632,
+            -3088.811880837545,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -847.5550450617166,
+            -3090.311880837545,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -850.1531212730699,
+            -3091.811880837545,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -852.7511974844233,
+            -3093.311880837545,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -855.3492736957767,
+            -3094.811880837545,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -857.94734990713,
+            -3096.311880837545,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -860.5454261184834,
+            -3097.811880837545,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -863.1435023298368,
+            -3099.311880837545,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -865.7415785411902,
+            -3100.811880837545,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -868.3396547525435,
+            -3102.311880837545,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -870.9377309638969,
+            -3103.811880837545,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -873.5358071752503,
+            -3105.311880837545,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -876.1338833866037,
+            -3106.811880837545,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -878.731959597957,
+            -3108.311880837545,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -881.3300358093104,
+            -3109.811880837545,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -883.9281120206638,
+            -3111.311880837545,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -886.5261882320171,
+            -3112.811880837545,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -889.1242644433705,
+            -3114.311880837545,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -891.7223406547239,
+            -3115.811880837545,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -894.3204168660773,
+            -3117.311880837545,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -896.9184930774306,
+            -3118.811880837545,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -899.516569288784,
+            -3120.311880837545,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -902.1146455001374,
+            -3121.811880837545,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -904.7127217114908,
+            -3123.311880837545,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -907.3107979228441,
+            -3124.811880837545,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -909.9088741341975,
+            -3126.311880837545,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -912.5069503455509,
+            -3127.811880837545,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -912.5069503455509,
+            -3127.811880837545,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -915.5069503455509,
+            -3127.811880837545,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -918.5069503455509,
+            -3127.811880837545,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -921.5069503455509,
+            -3127.811880837545,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -924.5069503455509,
+            -3127.811880837545,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -927.5069503455509,
+            -3127.811880837545,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -930.5069503455509,
+            -3127.811880837545,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -933.5069503455509,
+            -3127.811880837545,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -936.5069503455509,
+            -3127.811880837545,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -939.5069503455509,
+            -3127.811880837545,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -942.5069503455509,
+            -3127.811880837545,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -964.0,
+            -3136.0,
+            -205.779
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_5-3-27_464837581/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_5-3-27_464837581/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8268bbad2a5278127967027a293d283c8c496f0f
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_5-3-27_464837581/pose.jsonl
@@ -0,0 +1,522 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            604.225775807363,
+            -1484.1604660349906,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            605.725775807363,
+            -1481.5623898236372,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            607.225775807363,
+            -1478.9643136122838,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            608.725775807363,
+            -1476.3662374009305,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            610.225775807363,
+            -1473.768161189577,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            611.725775807363,
+            -1471.1700849782237,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            613.225775807363,
+            -1468.5720087668703,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            614.725775807363,
+            -1465.973932555517,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            616.225775807363,
+            -1463.3758563441636,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            617.725775807363,
+            -1460.7777801328102,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            619.225775807363,
+            -1458.1797039214568,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            620.725775807363,
+            -1455.5816277101035,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            622.225775807363,
+            -1452.98355149875,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            623.725775807363,
+            -1450.3854752873967,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            625.225775807363,
+            -1447.7873990760434,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            626.725775807363,
+            -1445.18932286469,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            628.225775807363,
+            -1442.5912466533366,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            629.725775807363,
+            -1439.9931704419832,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            631.225775807363,
+            -1437.3950942306299,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            632.725775807363,
+            -1434.7970180192765,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            634.225775807363,
+            -1432.1989418079231,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            634.225775807363,
+            -1432.1989418079231,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            634.225775807363,
+            -1429.1989418079231,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            634.225775807363,
+            -1426.1989418079231,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            634.225775807363,
+            -1423.1989418079231,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            634.225775807363,
+            -1420.1989418079231,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            634.225775807363,
+            -1417.1989418079231,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            634.225775807363,
+            -1414.1989418079231,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            634.225775807363,
+            -1411.1989418079231,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            634.225775807363,
+            -1408.1989418079231,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            634.225775807363,
+            -1405.1989418079231,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            634.225775807363,
+            -1402.1989418079231,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            634.225775807363,
+            -1399.1989418079231,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            634.225775807363,
+            -1396.1989418079231,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            634.225775807363,
+            -1393.1989418079231,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            634.225775807363,
+            -1390.1989418079231,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            634.225775807363,
+            -1387.1989418079231,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            634.225775807363,
+            -1384.1989418079231,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            634.225775807363,
+            -1381.1989418079231,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            640.0,
+            -1360.0,
+            -201.594
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_5-3-49_1704841123/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_5-3-49_1704841123/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..103c41617c46fb717e33b87d221487fa64451201
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_5-3-49_1704841123/pose.jsonl
@@ -0,0 +1,327 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            359.671870519701,
+            -2140.179950766323,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            362.2699467310543,
+            -2141.679950766323,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            364.8680229424076,
+            -2143.179950766323,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            367.4660991537609,
+            -2144.679950766323,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            370.06417536511424,
+            -2146.179950766323,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            372.66225157646755,
+            -2147.679950766323,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            375.26032778782087,
+            -2149.179950766323,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            377.8584039991742,
+            -2150.679950766323,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            380.4564802105275,
+            -2152.179950766323,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            383.0545564218808,
+            -2153.679950766323,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            385.65263263323413,
+            -2155.179950766323,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            388.25070884458745,
+            -2156.679950766323,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            390.84878505594077,
+            -2158.179950766323,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            393.4468612672941,
+            -2159.679950766323,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            396.0449374786474,
+            -2161.179950766323,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            398.6430136900007,
+            -2162.679950766323,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            401.24108990135403,
+            -2164.179950766323,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            403.83916611270735,
+            -2165.679950766323,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            406.43724232406066,
+            -2167.179950766323,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            406.43724232406066,
+            -2167.179950766323,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            407.93724232406066,
+            -2169.7780269776763,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            409.43724232406066,
+            -2172.3761031890294,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            410.93724232406066,
+            -2174.9741794003826,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            412.43724232406066,
+            -2177.5722556117357,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            440.0,
+            -2200.0,
+            -205.967
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_5-31-1_1953197930/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_5-31-1_1953197930/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..70aa8769c4e0c5366812dc0ebee328e4326edad4
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_5-31-1_1953197930/pose.jsonl
@@ -0,0 +1,418 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -526.9696422364046,
+            -2199.3129982425053,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -528.4696422364046,
+            -2201.9110744538584,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -529.9696422364046,
+            -2204.5091506652116,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -531.4696422364046,
+            -2207.1072268765647,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -532.9696422364046,
+            -2209.705303087918,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -534.4696422364046,
+            -2212.303379299271,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -535.9696422364046,
+            -2214.901455510624,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -537.4696422364046,
+            -2217.4995317219773,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -538.9696422364046,
+            -2220.0976079333304,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -540.4696422364046,
+            -2222.6956841446836,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -541.9696422364046,
+            -2225.2937603560367,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -543.4696422364046,
+            -2227.89183656739,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -544.9696422364046,
+            -2230.489912778743,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -546.4696422364046,
+            -2233.087988990096,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -547.9696422364046,
+            -2235.6860652014493,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -549.4696422364046,
+            -2238.2841414128025,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -550.9696422364046,
+            -2240.8822176241556,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -552.4696422364046,
+            -2243.4802938355087,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -553.9696422364046,
+            -2246.078370046862,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -555.4696422364046,
+            -2248.676446258215,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -556.9696422364046,
+            -2251.274522469568,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -558.4696422364046,
+            -2253.8725986809213,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -559.9696422364046,
+            -2256.4706748922745,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -561.4696422364046,
+            -2259.0687511036276,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -562.9696422364046,
+            -2261.6668273149808,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -562.9696422364046,
+            -2261.6668273149808,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.570796326794925
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -562.9696422364046,
+            -2264.6668273149808,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -562.9696422364046,
+            -2267.6668273149808,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -562.9696422364046,
+            -2270.6668273149808,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -562.9696422364046,
+            -2273.6668273149808,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -562.9696422364046,
+            -2276.6668273149808,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -572.0,
+            -2300.0,
+            -213.853
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_5-34-11_1308581515/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_5-34-11_1308581515/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..98fd62e2f8b4c0fd81a560c5c4d133d11c0fb749
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_5-34-11_1308581515/pose.jsonl
@@ -0,0 +1,405 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            295.6924054575453,
+            -1341.805860075265,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            294.1924054575453,
+            -1344.4039362866183,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            292.6924054575453,
+            -1347.0020124979717,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            291.1924054575453,
+            -1349.600088709325,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            289.6924054575453,
+            -1352.1981649206784,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            288.1924054575453,
+            -1354.7962411320318,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            286.6924054575453,
+            -1357.3943173433852,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            285.1924054575453,
+            -1359.9923935547386,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            283.6924054575453,
+            -1362.590469766092,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            282.1924054575453,
+            -1365.1885459774453,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            280.6924054575453,
+            -1367.7866221887987,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            279.1924054575453,
+            -1370.384698400152,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            277.6924054575453,
+            -1372.9827746115054,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            276.1924054575453,
+            -1375.5808508228588,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            274.6924054575453,
+            -1378.1789270342122,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            273.1924054575453,
+            -1380.7770032455655,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            271.6924054575453,
+            -1383.375079456919,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            270.1924054575453,
+            -1385.9731556682723,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            268.6924054575453,
+            -1388.5712318796257,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            267.1924054575453,
+            -1391.169308090979,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            265.6924054575453,
+            -1393.7673843023324,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            264.1924054575453,
+            -1396.3654605136858,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            262.6924054575453,
+            -1398.9635367250391,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            261.1924054575453,
+            -1401.5616129363925,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            259.6924054575453,
+            -1404.159689147746,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            258.1924054575453,
+            -1406.7577653590993,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            256.6924054575453,
+            -1409.3558415704526,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            255.1924054575453,
+            -1411.953917781806,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            253.6924054575453,
+            -1414.5519939931594,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            252.1924054575453,
+            -1417.1500702045128,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            240.0,
+            -1440.0,
+            -225.243
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_5-41-53_1038828826/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_5-41-53_1038828826/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..aa9160e62f8c20fe73629e862088f03d1b1c2947
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_5-41-53_1038828826/pose.jsonl
@@ -0,0 +1,509 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -52.66297499147916,
+            -1764.6229213635588,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -50.064898780125844,
+            -1763.1229213635588,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -47.46682256877253,
+            -1761.6229213635588,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -44.86874635741921,
+            -1760.1229213635588,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -42.270670146065896,
+            -1758.6229213635588,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -39.67259393471258,
+            -1757.1229213635588,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -37.074517723359264,
+            -1755.6229213635588,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -34.47644151200595,
+            -1754.1229213635588,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -31.878365300652632,
+            -1752.6229213635588,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -29.280289089299316,
+            -1751.1229213635588,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -26.682212877946,
+            -1749.6229213635588,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -24.084136666592684,
+            -1748.1229213635588,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -21.486060455239368,
+            -1746.6229213635588,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -18.887984243886052,
+            -1745.1229213635588,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -16.289908032532736,
+            -1743.6229213635588,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -13.69183182117942,
+            -1742.1229213635588,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -11.093755609826104,
+            -1740.6229213635588,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -8.495679398472788,
+            -1739.1229213635588,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -5.897603187119472,
+            -1737.6229213635588,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -3.299526975766156,
+            -1736.1229213635588,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -0.70145076441284,
+            -1734.6229213635588,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1.896625446940476,
+            -1733.1229213635588,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            4.494701658293792,
+            -1731.6229213635588,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            7.092777869647108,
+            -1730.1229213635588,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            9.690854081000424,
+            -1728.6229213635588,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            12.28893029235374,
+            -1727.1229213635588,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            14.887006503707056,
+            -1725.6229213635588,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            17.485082715060372,
+            -1724.1229213635588,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            20.083158926413688,
+            -1722.6229213635588,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            22.681235137767004,
+            -1721.1229213635588,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            25.27931134912032,
+            -1719.6229213635588,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            27.877387560473636,
+            -1718.1229213635588,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            30.475463771826952,
+            -1716.6229213635588,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            33.07353998318027,
+            -1715.1229213635588,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            35.671616194533584,
+            -1713.6229213635588,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            38.2696924058869,
+            -1712.1229213635588,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            40.867768617240216,
+            -1710.6229213635588,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            43.46584482859353,
+            -1709.1229213635588,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            68.0,
+            -1696.0,
+            -213.853
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_5-46-55_574596534/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_5-46-55_574596534/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..eb5064cdbbaaf2615048cc0cb7852c3ac952216f
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_5-46-55_574596534/pose.jsonl
@@ -0,0 +1,444 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1171.8557138594988,
+            -2196.494552589482,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1171.8557138594988,
+            -2199.494552589482,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1171.8557138594988,
+            -2202.494552589482,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1171.8557138594988,
+            -2205.494552589482,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1171.8557138594988,
+            -2208.494552589482,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1171.8557138594988,
+            -2211.494552589482,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1171.8557138594988,
+            -2214.494552589482,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1171.8557138594988,
+            -2217.494552589482,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1171.8557138594988,
+            -2220.494552589482,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1171.8557138594988,
+            -2223.494552589482,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1171.8557138594988,
+            -2226.494552589482,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1171.8557138594988,
+            -2229.494552589482,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1171.8557138594988,
+            -2232.494552589482,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1171.8557138594988,
+            -2235.494552589482,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1171.8557138594988,
+            -2238.494552589482,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1171.8557138594988,
+            -2241.494552589482,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1171.8557138594988,
+            -2244.494552589482,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1171.8557138594988,
+            -2247.494552589482,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1171.8557138594988,
+            -2250.494552589482,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1171.8557138594988,
+            -2253.494552589482,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1171.8557138594988,
+            -2256.494552589482,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1171.8557138594988,
+            -2259.494552589482,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1171.8557138594988,
+            -2262.494552589482,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1171.8557138594988,
+            -2265.494552589482,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1171.8557138594988,
+            -2265.494552589482,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1170.3557138594988,
+            -2268.092628800835,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1168.8557138594988,
+            -2270.690705012188,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1167.3557138594988,
+            -2273.2887812235413,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1165.8557138594988,
+            -2275.8868574348944,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1164.3557138594988,
+            -2278.4849336462476,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1162.8557138594988,
+            -2281.0830098576007,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1161.3557138594988,
+            -2283.681086068954,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1159.8557138594988,
+            -2286.279162280307,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1156.0,
+            -2312.0,
+            -213.669
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_5-50-6_1813511382/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_5-50-6_1813511382/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c9cc9f8c098915a337a75c93d8171889e45cd879
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_5-50-6_1813511382/pose.jsonl
@@ -0,0 +1,431 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            359.6702695748069,
+            -1555.839368547765,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            356.6702695748069,
+            -1555.839368547765,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            353.6702695748069,
+            -1555.839368547765,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            350.6702695748069,
+            -1555.839368547765,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            347.6702695748069,
+            -1555.839368547765,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            344.6702695748069,
+            -1555.839368547765,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            341.6702695748069,
+            -1555.839368547765,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            338.6702695748069,
+            -1555.839368547765,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            335.6702695748069,
+            -1555.839368547765,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            332.6702695748069,
+            -1555.839368547765,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            329.6702695748069,
+            -1555.839368547765,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            326.6702695748069,
+            -1555.839368547765,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            323.6702695748069,
+            -1555.839368547765,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            320.6702695748069,
+            -1555.839368547765,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            317.6702695748069,
+            -1555.839368547765,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            314.6702695748069,
+            -1555.839368547765,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            311.6702695748069,
+            -1555.839368547765,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            308.6702695748069,
+            -1555.839368547765,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            305.6702695748069,
+            -1555.839368547765,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            302.6702695748069,
+            -1555.839368547765,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            299.6702695748069,
+            -1555.839368547765,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            296.6702695748069,
+            -1555.839368547765,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            293.6702695748069,
+            -1555.839368547765,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            290.6702695748069,
+            -1555.839368547765,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            287.6702695748069,
+            -1555.839368547765,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            284.6702695748069,
+            -1555.839368547765,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            281.6702695748069,
+            -1555.839368547765,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            278.6702695748069,
+            -1555.839368547765,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            275.6702695748069,
+            -1555.839368547765,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            275.6702695748069,
+            -1555.839368547765,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            273.0721933634536,
+            -1557.339368547765,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            270.4741171521003,
+            -1558.839368547765,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            240.0,
+            -1560.0,
+            -206.55
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_5-57-33_2113556942/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_5-57-33_2113556942/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..74880c7486fc4db2bde5ea341d429a55d18b7764
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_5-57-33_2113556942/pose.jsonl
@@ -0,0 +1,613 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -772.4488104677541,
+            -2090.461785344996,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -770.9488104677541,
+            -2093.059861556349,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -769.4488104677541,
+            -2095.657937767702,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -767.9488104677541,
+            -2098.2560139790553,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -766.4488104677541,
+            -2100.8540901904084,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -764.9488104677541,
+            -2103.4521664017616,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -763.4488104677541,
+            -2106.0502426131147,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -761.9488104677541,
+            -2108.648318824468,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -760.4488104677541,
+            -2111.246395035821,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -758.9488104677541,
+            -2113.844471247174,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -757.4488104677541,
+            -2116.4425474585273,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -755.9488104677541,
+            -2119.0406236698805,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -754.4488104677541,
+            -2121.6386998812336,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -752.9488104677541,
+            -2124.2367760925868,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -751.4488104677541,
+            -2126.83485230394,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -749.9488104677541,
+            -2129.432928515293,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -748.4488104677541,
+            -2132.031004726646,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -746.9488104677541,
+            -2134.6290809379993,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -745.4488104677541,
+            -2137.2271571493525,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -743.9488104677541,
+            -2139.8252333607056,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -742.4488104677541,
+            -2142.4233095720588,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -740.9488104677541,
+            -2145.021385783412,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -739.4488104677541,
+            -2147.619461994765,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -737.9488104677541,
+            -2150.217538206118,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -736.4488104677541,
+            -2152.8156144174714,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -734.9488104677541,
+            -2155.4136906288245,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -734.9488104677541,
+            -2155.4136906288245,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982706
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -732.3507342564008,
+            -2156.9136906288245,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -729.7526580450474,
+            -2158.4136906288245,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -727.154581833694,
+            -2159.9136906288245,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -724.5565056223406,
+            -2161.4136906288245,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -721.9584294109873,
+            -2162.9136906288245,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -719.3603531996339,
+            -2164.4136906288245,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -716.7622769882805,
+            -2165.9136906288245,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -714.1642007769271,
+            -2167.4136906288245,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -711.5661245655738,
+            -2168.9136906288245,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -708.9680483542204,
+            -2170.4136906288245,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -708.9680483542204,
+            -2170.4136906288245,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -707.4680483542204,
+            -2173.0117668401776,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -705.9680483542204,
+            -2175.609843051531,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -704.4680483542204,
+            -2178.207919262884,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -702.9680483542204,
+            -2180.805995474237,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -701.4680483542204,
+            -2183.40407168559,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -699.9680483542204,
+            -2186.0021478969434,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -699.9680483542204,
+            -2186.0021478969434,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982706
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -697.369972142867,
+            -2187.5021478969434,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982706
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -680.0,
+            -2208.0,
+            -225.684
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_5-7-39_110993018/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_5-7-39_110993018/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..120f278b3a231710db6c232aeec917007a8709e5
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_5-7-39_110993018/pose.jsonl
@@ -0,0 +1,444 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            39.2839936133968,
+            -1788.7624121007073,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            42.2839936133968,
+            -1788.7624121007073,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            45.2839936133968,
+            -1788.7624121007073,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            48.2839936133968,
+            -1788.7624121007073,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            51.2839936133968,
+            -1788.7624121007073,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            54.2839936133968,
+            -1788.7624121007073,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            57.2839936133968,
+            -1788.7624121007073,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            60.2839936133968,
+            -1788.7624121007073,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            63.2839936133968,
+            -1788.7624121007073,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            66.2839936133968,
+            -1788.7624121007073,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            69.2839936133968,
+            -1788.7624121007073,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            72.2839936133968,
+            -1788.7624121007073,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            75.2839936133968,
+            -1788.7624121007073,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            78.2839936133968,
+            -1788.7624121007073,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            81.2839936133968,
+            -1788.7624121007073,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            84.2839936133968,
+            -1788.7624121007073,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            87.2839936133968,
+            -1788.7624121007073,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            90.2839936133968,
+            -1788.7624121007073,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            93.2839936133968,
+            -1788.7624121007073,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            96.2839936133968,
+            -1788.7624121007073,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            99.2839936133968,
+            -1788.7624121007073,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            102.2839936133968,
+            -1788.7624121007073,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            105.2839936133968,
+            -1788.7624121007073,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            108.2839936133968,
+            -1788.7624121007073,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            111.2839936133968,
+            -1788.7624121007073,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            111.2839936133968,
+            -1788.7624121007073,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            113.88206982475012,
+            -1787.2624121007073,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            116.48014603610343,
+            -1785.7624121007073,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            119.07822224745675,
+            -1784.2624121007073,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            121.67629845881007,
+            -1782.7624121007073,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            124.27437467016338,
+            -1781.2624121007073,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            126.8724508815167,
+            -1779.7624121007073,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            129.47052709287001,
+            -1778.2624121007073,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            156.0,
+            -1776.0,
+            -214.057
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_6-0-58_129183332/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_6-0-58_129183332/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4c1480c28e7b8384a79cf4ab72a728e2d0acf136
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_6-0-58_129183332/pose.jsonl
@@ -0,0 +1,522 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            125.866833885727,
+            -1399.993556865101,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            128.866833885727,
+            -1399.993556865101,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            131.866833885727,
+            -1399.993556865101,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            134.866833885727,
+            -1399.993556865101,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            137.866833885727,
+            -1399.993556865101,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            140.866833885727,
+            -1399.993556865101,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            143.866833885727,
+            -1399.993556865101,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            146.866833885727,
+            -1399.993556865101,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            149.866833885727,
+            -1399.993556865101,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            152.866833885727,
+            -1399.993556865101,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            155.866833885727,
+            -1399.993556865101,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            158.866833885727,
+            -1399.993556865101,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            161.866833885727,
+            -1399.993556865101,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            164.866833885727,
+            -1399.993556865101,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            167.866833885727,
+            -1399.993556865101,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            170.866833885727,
+            -1399.993556865101,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            173.866833885727,
+            -1399.993556865101,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            176.866833885727,
+            -1399.993556865101,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            179.866833885727,
+            -1399.993556865101,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            182.866833885727,
+            -1399.993556865101,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            185.866833885727,
+            -1399.993556865101,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            188.866833885727,
+            -1399.993556865101,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            191.866833885727,
+            -1399.993556865101,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            191.866833885727,
+            -1399.993556865101,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            191.866833885727,
+            -1399.993556865101,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            193.366833885727,
+            -1397.3954806537477,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            194.866833885727,
+            -1394.7974044423943,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            196.366833885727,
+            -1392.199328231041,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            196.366833885727,
+            -1392.199328231041,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            198.96491009708032,
+            -1390.699328231041,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            201.56298630843364,
+            -1389.199328231041,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            204.16106251978695,
+            -1387.699328231041,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            206.75913873114027,
+            -1386.199328231041,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            209.35721494249358,
+            -1384.699328231041,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            211.9552911538469,
+            -1383.199328231041,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            214.55336736520022,
+            -1381.699328231041,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            217.15144357655353,
+            -1380.199328231041,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            219.74951978790685,
+            -1378.699328231041,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            222.34759599926016,
+            -1377.199328231041,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            240.0,
+            -1372.0,
+            -205.963
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_6-12-13_340563072/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_6-12-13_340563072/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4f88f23f1d7c945a1df6b0e81856216f59b7776f
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_6-12-13_340563072/pose.jsonl
@@ -0,0 +1,574 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            510.28577326139555,
+            -2068.428513896541,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            508.78577326139555,
+            -2071.026590107894,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            507.28577326139555,
+            -2073.6246663192474,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            505.78577326139555,
+            -2076.2227425306005,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            504.28577326139555,
+            -2078.8208187419536,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            502.78577326139555,
+            -2081.418894953307,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            501.28577326139555,
+            -2084.01697116466,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            499.78577326139555,
+            -2086.615047376013,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            498.28577326139555,
+            -2089.213123587366,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            496.78577326139555,
+            -2091.8111997987194,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            495.28577326139555,
+            -2094.4092760100725,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            493.78577326139555,
+            -2097.0073522214257,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            492.28577326139555,
+            -2099.605428432779,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            490.78577326139555,
+            -2102.203504644132,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            489.28577326139555,
+            -2104.801580855485,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            487.78577326139555,
+            -2107.3996570668382,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            486.28577326139555,
+            -2109.9977332781914,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            484.78577326139555,
+            -2112.5958094895445,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            483.28577326139555,
+            -2115.1938857008977,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            481.78577326139555,
+            -2117.791961912251,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            480.28577326139555,
+            -2120.390038123604,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            478.78577326139555,
+            -2122.988114334957,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            477.28577326139555,
+            -2125.5861905463103,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            475.78577326139555,
+            -2128.1842667576634,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            474.28577326139555,
+            -2130.7823429690166,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            472.78577326139555,
+            -2133.3804191803697,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            471.28577326139555,
+            -2135.978495391723,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            469.78577326139555,
+            -2138.576571603076,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            468.28577326139555,
+            -2141.174647814429,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            466.78577326139555,
+            -2143.7727240257823,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            465.28577326139555,
+            -2146.3708002371354,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            463.78577326139555,
+            -2148.9688764484886,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            462.28577326139555,
+            -2151.5669526598417,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            460.78577326139555,
+            -2154.165028871195,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            459.28577326139555,
+            -2156.763105082548,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            457.78577326139555,
+            -2159.361181293901,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            456.28577326139555,
+            -2161.9592575052543,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            454.78577326139555,
+            -2164.5573337166074,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            453.28577326139555,
+            -2167.1554099279606,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            451.78577326139555,
+            -2169.7534861393137,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            451.78577326139555,
+            -2169.7534861393137,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.570796326794925
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            451.78577326139555,
+            -2172.7534861393137,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            451.78577326139555,
+            -2175.7534861393137,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            440.0,
+            -2200.0,
+            -205.967
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_6-19-28_1917104697/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_6-19-28_1917104697/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1914b3592bf8dc2e8448243596179c3d656fa9c3
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_6-19-28_1917104697/pose.jsonl
@@ -0,0 +1,522 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            368.0720954411551,
+            -1263.5943101364799,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            365.4740192298018,
+            -1265.0943101364799,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            362.8759430184485,
+            -1266.5943101364799,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            360.27786680709517,
+            -1268.0943101364799,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            357.67979059574185,
+            -1269.5943101364799,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            355.08171438438853,
+            -1271.0943101364799,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            352.4836381730352,
+            -1272.5943101364799,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            349.8855619616819,
+            -1274.0943101364799,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            347.2874857503286,
+            -1275.5943101364799,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            344.68940953897527,
+            -1277.0943101364799,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            342.09133332762195,
+            -1278.5943101364799,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            339.49325711626864,
+            -1280.0943101364799,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            336.8951809049153,
+            -1281.5943101364799,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            334.297104693562,
+            -1283.0943101364799,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            331.6990284822087,
+            -1284.5943101364799,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            329.1009522708554,
+            -1286.0943101364799,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            326.50287605950206,
+            -1287.5943101364799,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            323.90479984814874,
+            -1289.0943101364799,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            321.3067236367954,
+            -1290.5943101364799,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            318.7086474254421,
+            -1292.0943101364799,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            316.1105712140888,
+            -1293.5943101364799,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            313.5124950027355,
+            -1295.0943101364799,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            310.91441879138216,
+            -1296.5943101364799,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            308.31634258002885,
+            -1298.0943101364799,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            305.71826636867553,
+            -1299.5943101364799,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            303.1201901573222,
+            -1301.0943101364799,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            300.5221139459689,
+            -1302.5943101364799,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            297.9240377346156,
+            -1304.0943101364799,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            295.32596152326227,
+            -1305.5943101364799,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            295.32596152326227,
+            -1305.5943101364799,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            292.32596152326227,
+            -1305.5943101364799,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            289.32596152326227,
+            -1305.5943101364799,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            286.32596152326227,
+            -1305.5943101364799,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            283.32596152326227,
+            -1305.5943101364799,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            280.32596152326227,
+            -1305.5943101364799,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            277.32596152326227,
+            -1305.5943101364799,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            274.32596152326227,
+            -1305.5943101364799,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            271.32596152326227,
+            -1305.5943101364799,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            268.32596152326227,
+            -1305.5943101364799,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            240.0,
+            -1316.0,
+            -219.268
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_6-25-41_989492335/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_6-25-41_989492335/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4afe45166352671f8d12bd2c55170f809bb6c4e0
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_6-25-41_989492335/pose.jsonl
@@ -0,0 +1,431 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            272.1232726605142,
+            -1819.1324235997522,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            269.5251964491609,
+            -1817.6324235997522,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            266.92712023780757,
+            -1816.1324235997522,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            264.32904402645426,
+            -1814.6324235997522,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            261.73096781510094,
+            -1813.1324235997522,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            259.1328916037476,
+            -1811.6324235997522,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            256.5348153923943,
+            -1810.1324235997522,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            253.936739181041,
+            -1808.6324235997522,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            251.33866296968768,
+            -1807.1324235997522,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            248.74058675833436,
+            -1805.6324235997522,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            246.14251054698104,
+            -1804.1324235997522,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            243.54443433562773,
+            -1802.6324235997522,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            240.9463581242744,
+            -1801.1324235997522,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            238.3482819129211,
+            -1799.6324235997522,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            235.75020570156778,
+            -1798.1324235997522,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            233.15212949021446,
+            -1796.6324235997522,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            230.55405327886115,
+            -1795.1324235997522,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            227.95597706750783,
+            -1793.6324235997522,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            225.35790085615452,
+            -1792.1324235997522,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            222.7598246448012,
+            -1790.6324235997522,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            220.16174843344788,
+            -1789.1324235997522,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            217.56367222209457,
+            -1787.6324235997522,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            217.56367222209457,
+            -1787.6324235997522,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            214.56367222209457,
+            -1787.6324235997522,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            211.56367222209457,
+            -1787.6324235997522,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            208.56367222209457,
+            -1787.6324235997522,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            205.56367222209457,
+            -1787.6324235997522,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            202.56367222209457,
+            -1787.6324235997522,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            199.56367222209457,
+            -1787.6324235997522,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            196.56367222209457,
+            -1787.6324235997522,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            193.56367222209457,
+            -1787.6324235997522,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            190.56367222209457,
+            -1787.6324235997522,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            156.0,
+            -1776.0,
+            -214.057
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_6-27-40_1292850339/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_6-27-40_1292850339/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..be6fbb3812c773bcacd3e57271706c3c49405498
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_6-27-40_1292850339/pose.jsonl
@@ -0,0 +1,392 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            342.0580724042975,
+            -1615.6207764351293,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            339.4599961929442,
+            -1614.1207764351293,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            336.86191998159086,
+            -1612.6207764351293,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            334.26384377023754,
+            -1611.1207764351293,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            331.6657675588842,
+            -1609.6207764351293,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            329.0676913475309,
+            -1608.1207764351293,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            326.4696151361776,
+            -1606.6207764351293,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            323.8715389248243,
+            -1605.1207764351293,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            321.27346271347096,
+            -1603.6207764351293,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            318.67538650211765,
+            -1602.1207764351293,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            316.07731029076433,
+            -1600.6207764351293,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            313.479234079411,
+            -1599.1207764351293,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            310.8811578680577,
+            -1597.6207764351293,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            308.2830816567044,
+            -1596.1207764351293,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            305.68500544535107,
+            -1594.6207764351293,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            303.08692923399775,
+            -1593.1207764351293,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            300.48885302264443,
+            -1591.6207764351293,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            297.8907768112911,
+            -1590.1207764351293,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            295.2927005999378,
+            -1588.6207764351293,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            292.6946243885845,
+            -1587.1207764351293,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            290.09654817723117,
+            -1585.6207764351293,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            287.49847196587785,
+            -1584.1207764351293,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            284.90039575452454,
+            -1582.6207764351293,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            282.3023195431712,
+            -1581.1207764351293,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            279.7042433318179,
+            -1579.6207764351293,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            277.1061671204646,
+            -1578.1207764351293,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            274.5080909091113,
+            -1576.6207764351293,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            271.91001469775796,
+            -1575.1207764351293,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            269.31193848640464,
+            -1573.6207764351293,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            240.0,
+            -1560.0,
+            -206.55
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_6-38-29_1818084292/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_6-38-29_1818084292/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cfa4f976e09879eaf2b2077cdccb13a772e7a070
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_6-38-29_1818084292/pose.jsonl
@@ -0,0 +1,431 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            209.84758735374493,
+            -1268.719174063817,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            211.34758735374493,
+            -1271.3172502751704,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            212.84758735374493,
+            -1273.9153264865238,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            214.34758735374493,
+            -1276.5134026978772,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            215.84758735374493,
+            -1279.1114789092305,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            217.34758735374493,
+            -1281.709555120584,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            218.84758735374493,
+            -1284.3076313319373,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            220.34758735374493,
+            -1286.9057075432906,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            221.84758735374493,
+            -1289.503783754644,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            223.34758735374493,
+            -1292.1018599659974,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            224.84758735374493,
+            -1294.6999361773508,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            226.34758735374493,
+            -1297.2980123887041,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            227.84758735374493,
+            -1299.8960886000575,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            229.34758735374493,
+            -1302.4941648114109,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            230.84758735374493,
+            -1305.0922410227643,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            232.34758735374493,
+            -1307.6903172341176,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            232.34758735374493,
+            -1307.6903172341176,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            232.34758735374493,
+            -1310.6903172341176,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            232.34758735374493,
+            -1313.6903172341176,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            232.34758735374493,
+            -1316.6903172341176,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            232.34758735374493,
+            -1319.6903172341176,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            232.34758735374493,
+            -1322.6903172341176,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            232.34758735374493,
+            -1325.6903172341176,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            232.34758735374493,
+            -1328.6903172341176,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            232.34758735374493,
+            -1331.6903172341176,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            232.34758735374493,
+            -1334.6903172341176,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            232.34758735374493,
+            -1337.6903172341176,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            232.34758735374493,
+            -1340.6903172341176,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            232.34758735374493,
+            -1343.6903172341176,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            232.34758735374493,
+            -1346.6903172341176,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            232.34758735374493,
+            -1349.6903172341176,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            232.34758735374493,
+            -1352.6903172341176,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            240.0,
+            -1372.0,
+            -205.963
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_6-4-46_1245466382/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_6-4-46_1245466382/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c4f55b82170d3cf589d1418f6016fbddbbbbad29
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_6-4-46_1245466382/pose.jsonl
@@ -0,0 +1,366 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            306.62067219273496,
+            -1518.9229606227298,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            305.12067219273496,
+            -1516.3248844113764,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            303.62067219273496,
+            -1513.726808200023,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            302.12067219273496,
+            -1511.1287319886696,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            300.62067219273496,
+            -1508.5306557773163,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            299.12067219273496,
+            -1505.932579565963,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            297.62067219273496,
+            -1503.3345033546095,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            296.12067219273496,
+            -1500.7364271432562,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            294.62067219273496,
+            -1498.1383509319028,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            293.12067219273496,
+            -1495.5402747205494,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            291.62067219273496,
+            -1492.942198509196,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            290.12067219273496,
+            -1490.3441222978427,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            288.62067219273496,
+            -1487.7460460864893,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            287.12067219273496,
+            -1485.147969875136,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            285.62067219273496,
+            -1482.5498936637825,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            284.12067219273496,
+            -1479.9518174524292,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            282.62067219273496,
+            -1477.3537412410758,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            282.62067219273496,
+            -1477.3537412410758,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            280.02259598138164,
+            -1475.8537412410758,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            277.4245197700283,
+            -1474.3537412410758,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            274.826443558675,
+            -1472.8537412410758,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            272.2283673473217,
+            -1471.3537412410758,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            269.6302911359684,
+            -1469.8537412410758,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            267.03221492461506,
+            -1468.3537412410758,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            264.43413871326175,
+            -1466.8537412410758,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            261.83606250190843,
+            -1465.3537412410758,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            259.2379862905551,
+            -1463.8537412410758,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            240.0,
+            -1440.0,
+            -225.243
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_6-49-19_162403134/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_6-49-19_162403134/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..357d066713ca4fabda71b66bf6e1b21d97f3fe39
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_6-49-19_162403134/pose.jsonl
@@ -0,0 +1,353 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            74.760513700615,
+            -1798.7145045529971,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            74.760513700615,
+            -1795.7145045529971,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            74.760513700615,
+            -1792.7145045529971,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            74.760513700615,
+            -1789.7145045529971,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            74.760513700615,
+            -1786.7145045529971,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            74.760513700615,
+            -1783.7145045529971,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            74.760513700615,
+            -1780.7145045529971,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            74.760513700615,
+            -1777.7145045529971,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            74.760513700615,
+            -1774.7145045529971,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            74.760513700615,
+            -1771.7145045529971,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            74.760513700615,
+            -1768.7145045529971,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            74.760513700615,
+            -1765.7145045529971,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            74.760513700615,
+            -1762.7145045529971,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            74.760513700615,
+            -1759.7145045529971,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            74.760513700615,
+            -1756.7145045529971,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            74.760513700615,
+            -1753.7145045529971,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            74.760513700615,
+            -1750.7145045529971,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            74.760513700615,
+            -1747.7145045529971,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            74.760513700615,
+            -1744.7145045529971,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            74.760513700615,
+            -1741.7145045529971,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            74.760513700615,
+            -1738.7145045529971,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            74.760513700615,
+            -1735.7145045529971,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            74.760513700615,
+            -1732.7145045529971,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            74.760513700615,
+            -1732.7145045529971,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            73.260513700615,
+            -1730.1164283416438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            71.760513700615,
+            -1727.5183521302904,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            68.0,
+            -1696.0,
+            -213.853
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_6-51-19_1945891638/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_6-51-19_1945891638/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e1bf74437f0cd2bc57f66996ab1b649038302385
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_6-51-19_1945891638/pose.jsonl
@@ -0,0 +1,145 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -639.0347780478724,
+            -2709.0400905581714,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -636.0347780478724,
+            -2709.0400905581714,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -633.0347780478724,
+            -2709.0400905581714,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -630.0347780478724,
+            -2709.0400905581714,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -627.0347780478724,
+            -2709.0400905581714,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -627.0347780478724,
+            -2709.0400905581714,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -627.0347780478724,
+            -2709.0400905581714,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -625.5347780478724,
+            -2711.6381667695246,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -624.0347780478724,
+            -2714.2362429808777,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -622.5347780478724,
+            -2716.834319192231,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -520.0,
+            -2776.0,
+            -177.42
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_6-6-11_409098738/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_6-6-11_409098738/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..705b5c41ccf1df2c4b149800cb729b66aeae320b
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_6-6-11_409098738/pose.jsonl
@@ -0,0 +1,496 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            563.2530283031044,
+            -1102.1936258413828,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            561.7530283031044,
+            -1104.7917020527361,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            560.2530283031044,
+            -1107.3897782640895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            558.7530283031044,
+            -1109.9878544754429,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            557.2530283031044,
+            -1112.5859306867962,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            555.7530283031044,
+            -1115.1840068981496,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            554.2530283031044,
+            -1117.782083109503,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            552.7530283031044,
+            -1120.3801593208564,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            551.2530283031044,
+            -1122.9782355322097,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            549.7530283031044,
+            -1125.576311743563,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            548.2530283031044,
+            -1128.1743879549165,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            546.7530283031044,
+            -1130.7724641662699,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            545.2530283031044,
+            -1133.3705403776232,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            543.7530283031044,
+            -1135.9686165889766,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            542.2530283031044,
+            -1138.56669280033,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            540.7530283031044,
+            -1141.1647690116833,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            539.2530283031044,
+            -1143.7628452230367,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            537.7530283031044,
+            -1146.36092143439,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            536.2530283031044,
+            -1148.9589976457435,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            534.7530283031044,
+            -1151.5570738570968,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            534.7530283031044,
+            -1151.5570738570968,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            534.7530283031044,
+            -1154.5570738570968,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            534.7530283031044,
+            -1157.5570738570968,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            534.7530283031044,
+            -1160.5570738570968,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            534.7530283031044,
+            -1163.5570738570968,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            534.7530283031044,
+            -1166.5570738570968,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            534.7530283031044,
+            -1169.5570738570968,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            534.7530283031044,
+            -1172.5570738570968,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            534.7530283031044,
+            -1175.5570738570968,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            534.7530283031044,
+            -1178.5570738570968,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            534.7530283031044,
+            -1181.5570738570968,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            534.7530283031044,
+            -1184.5570738570968,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            534.7530283031044,
+            -1187.5570738570968,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            534.7530283031044,
+            -1190.5570738570968,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            534.7530283031044,
+            -1193.5570738570968,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            534.7530283031044,
+            -1196.5570738570968,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            534.7530283031044,
+            -1199.5570738570968,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            528.0,
+            -1224.0,
+            -203.312
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_6-9-30_880492499/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_6-9-30_880492499/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cc1d3cd1f10f045a6423c06e40308ada439efc7e
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_6-9-30_880492499/pose.jsonl
@@ -0,0 +1,522 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            601.8849848788908,
+            -1348.8210990361767,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            600.3849848788908,
+            -1346.2230228248234,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            598.8849848788908,
+            -1343.62494661347,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            597.3849848788908,
+            -1341.0268704021166,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            595.8849848788908,
+            -1338.4287941907633,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            594.3849848788908,
+            -1335.8307179794099,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            592.8849848788908,
+            -1333.2326417680565,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            591.3849848788908,
+            -1330.6345655567031,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            589.8849848788908,
+            -1328.0364893453498,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            588.3849848788908,
+            -1325.4384131339964,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            586.8849848788908,
+            -1322.840336922643,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            585.3849848788908,
+            -1320.2422607112896,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            583.8849848788908,
+            -1317.6441844999363,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            582.3849848788908,
+            -1315.046108288583,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            580.8849848788908,
+            -1312.4480320772295,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            579.3849848788908,
+            -1309.8499558658762,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            577.8849848788908,
+            -1307.2518796545228,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            576.3849848788908,
+            -1304.6538034431694,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            574.8849848788908,
+            -1302.055727231816,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            573.3849848788908,
+            -1299.4576510204627,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            571.8849848788908,
+            -1296.8595748091093,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            570.3849848788908,
+            -1294.261498597756,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            568.8849848788908,
+            -1291.6634223864025,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            567.3849848788908,
+            -1289.0653461750492,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            565.8849848788908,
+            -1286.4672699636958,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            564.3849848788908,
+            -1283.8691937523424,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            562.8849848788908,
+            -1281.271117540989,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            561.3849848788908,
+            -1278.6730413296357,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            559.8849848788908,
+            -1276.0749651182823,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            558.3849848788908,
+            -1273.476888906929,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            556.8849848788908,
+            -1270.8788126955756,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            555.3849848788908,
+            -1268.2807364842222,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            553.8849848788908,
+            -1265.6826602728688,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            552.3849848788908,
+            -1263.0845840615154,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            550.8849848788908,
+            -1260.486507850162,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            549.3849848788908,
+            -1257.8884316388087,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            547.8849848788908,
+            -1255.2903554274553,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            546.3849848788908,
+            -1252.692279216102,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            544.8849848788908,
+            -1250.0942030047486,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            528.0,
+            -1224.0,
+            -203.312
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_7-1-56_1636750614/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_7-1-56_1636750614/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..94cb5392ff3fcda67b2630db9f86e288e85f512d
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_7-1-56_1636750614/pose.jsonl
@@ -0,0 +1,379 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            347.70475156715753,
+            -1306.297015619448,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            344.70475156715753,
+            -1306.297015619448,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            341.70475156715753,
+            -1306.297015619448,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            338.70475156715753,
+            -1306.297015619448,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            335.70475156715753,
+            -1306.297015619448,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            332.70475156715753,
+            -1306.297015619448,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            329.70475156715753,
+            -1306.297015619448,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            326.70475156715753,
+            -1306.297015619448,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            323.70475156715753,
+            -1306.297015619448,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            320.70475156715753,
+            -1306.297015619448,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            317.70475156715753,
+            -1306.297015619448,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            314.70475156715753,
+            -1306.297015619448,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            311.70475156715753,
+            -1306.297015619448,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            308.70475156715753,
+            -1306.297015619448,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            305.70475156715753,
+            -1306.297015619448,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            302.70475156715753,
+            -1306.297015619448,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            299.70475156715753,
+            -1306.297015619448,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            296.70475156715753,
+            -1306.297015619448,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            293.70475156715753,
+            -1306.297015619448,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            290.70475156715753,
+            -1306.297015619448,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            287.70475156715753,
+            -1306.297015619448,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            284.70475156715753,
+            -1306.297015619448,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            281.70475156715753,
+            -1306.297015619448,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            281.70475156715753,
+            -1306.297015619448,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            279.1066753558042,
+            -1307.797015619448,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            276.5085991444509,
+            -1309.297015619448,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            273.9105229330976,
+            -1310.797015619448,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            271.31244672174427,
+            -1312.297015619448,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            240.0,
+            -1316.0,
+            -219.268
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_7-1-7_1973521090/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_7-1-7_1973521090/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b038a3b733af1c7f75efc36b73cedeefc235c420
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_7-1-7_1973521090/pose.jsonl
@@ -0,0 +1,171 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -761.9409780890403,
+            -1913.6172637103039,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -758.9409780890403,
+            -1913.6172637103039,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -755.9409780890403,
+            -1913.6172637103039,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -752.9409780890403,
+            -1913.6172637103039,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -749.9409780890403,
+            -1913.6172637103039,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -746.9409780890403,
+            -1913.6172637103039,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -743.9409780890403,
+            -1913.6172637103039,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -740.9409780890403,
+            -1913.6172637103039,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -737.9409780890403,
+            -1913.6172637103039,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -734.9409780890403,
+            -1913.6172637103039,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -731.9409780890403,
+            -1913.6172637103039,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -728.9409780890403,
+            -1913.6172637103039,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -656.0,
+            -1916.0,
+            -213.853
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_7-22-50_1113675743/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_7-22-50_1113675743/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b63e736833cb29247ede1e2782529a016ed19d19
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_7-22-50_1113675743/pose.jsonl
@@ -0,0 +1,405 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -0.3383462462797553,
+            -1797.0099835275212,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1.1616537537202452,
+            -1794.4119073161678,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            2.6616537537202456,
+            -1791.8138311048144,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            4.1616537537202465,
+            -1789.215754893461,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196607
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            5.6616537537202465,
+            -1786.6176786821077,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            7.1616537537202465,
+            -1784.0196024707543,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            8.661653753720246,
+            -1781.421526259401,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            10.161653753720246,
+            -1778.8234500480476,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            11.661653753720246,
+            -1776.2253738366942,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            13.161653753720246,
+            -1773.6272976253408,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            14.661653753720246,
+            -1771.0292214139874,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            16.16165375372025,
+            -1768.431145202634,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966067
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            17.66165375372025,
+            -1765.8330689912807,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            19.16165375372025,
+            -1763.2349927799273,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            20.66165375372025,
+            -1760.636916568574,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            22.16165375372025,
+            -1758.0388403572206,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            23.66165375372025,
+            -1755.4407641458672,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            25.16165375372025,
+            -1752.8426879345138,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            26.66165375372025,
+            -1750.2446117231605,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            28.16165375372025,
+            -1747.646535511807,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            29.66165375372025,
+            -1745.0484593004537,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            31.16165375372025,
+            -1742.4503830891003,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            32.66165375372025,
+            -1739.852306877747,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966063
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            34.16165375372025,
+            -1737.2542306663936,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            35.66165375372025,
+            -1734.6561544550402,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            35.66165375372025,
+            -1734.6561544550402,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            38.25972996507357,
+            -1733.1561544550402,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            40.857806176426884,
+            -1731.6561544550402,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            43.4558823877802,
+            -1730.1561544550402,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            46.053958599133516,
+            -1728.6561544550402,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            68.0,
+            -1696.0,
+            -213.853
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_7-25-34_1572255140/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_7-25-34_1572255140/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bf345c71865cc5384c6c33ce4c31705bb850db81
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_7-25-34_1572255140/pose.jsonl
@@ -0,0 +1,405 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -786.8579639291528,
+            -2190.655721870465,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -783.8579639291528,
+            -2190.655721870465,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -780.8579639291528,
+            -2190.655721870465,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -777.8579639291528,
+            -2190.655721870465,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -774.8579639291528,
+            -2190.655721870465,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -771.8579639291528,
+            -2190.655721870465,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -768.8579639291528,
+            -2190.655721870465,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -765.8579639291528,
+            -2190.655721870465,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -762.8579639291528,
+            -2190.655721870465,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -759.8579639291528,
+            -2190.655721870465,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -756.8579639291528,
+            -2190.655721870465,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -753.8579639291528,
+            -2190.655721870465,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -750.8579639291528,
+            -2190.655721870465,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -747.8579639291528,
+            -2190.655721870465,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -744.8579639291528,
+            -2190.655721870465,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -741.8579639291528,
+            -2190.655721870465,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -738.8579639291528,
+            -2190.655721870465,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -735.8579639291528,
+            -2190.655721870465,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -732.8579639291528,
+            -2190.655721870465,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -732.8579639291528,
+            -2190.655721870465,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -730.2598877177995,
+            -2192.155721870465,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -727.6618115064462,
+            -2193.655721870465,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -725.0637352950928,
+            -2195.155721870465,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -722.4656590837394,
+            -2196.655721870465,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -719.867582872386,
+            -2198.155721870465,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -717.2695066610327,
+            -2199.655721870465,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -714.6714304496793,
+            -2201.155721870465,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -712.0733542383259,
+            -2202.655721870465,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -709.4752780269725,
+            -2204.155721870465,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -706.8772018156192,
+            -2205.655721870465,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -680.0,
+            -2208.0,
+            -225.684
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_7-32-12_1166437685/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_7-32-12_1166437685/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..da8a4ebcf831227380029a655362e3d218cabdfb
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_7-32-12_1166437685/pose.jsonl
@@ -0,0 +1,106 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -659.0766789399215,
+            -2743.601683379275,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -656.0766789399215,
+            -2743.601683379275,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -653.0766789399215,
+            -2743.601683379275,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -650.0766789399215,
+            -2743.601683379275,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -647.0766789399215,
+            -2743.601683379275,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -647.0766789399215,
+            -2743.601683379275,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -644.4786027285681,
+            -2745.101683379275,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -520.0,
+            -2776.0,
+            -177.42
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_7-34-37_349121784/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_7-34-37_349121784/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6e49fb0f7aa37da248cacd0e150ec198bbdb1789
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_7-34-37_349121784/pose.jsonl
@@ -0,0 +1,392 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            508.5403552576985,
+            -2311.8227717667755,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            507.0403552576985,
+            -2309.2246955554224,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            505.5403552576985,
+            -2306.6266193440692,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            504.0403552576985,
+            -2304.028543132716,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            502.5403552576985,
+            -2301.430466921363,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            501.0403552576985,
+            -2298.83239071001,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            499.5403552576985,
+            -2296.2343144986567,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            498.0403552576985,
+            -2293.6362382873035,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            496.5403552576985,
+            -2291.0381620759504,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            495.0403552576985,
+            -2288.440085864597,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            493.5403552576985,
+            -2285.842009653244,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            492.0403552576985,
+            -2283.243933441891,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            490.5403552576985,
+            -2280.645857230538,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            489.0403552576985,
+            -2278.0477810191846,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            487.5403552576985,
+            -2275.4497048078315,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            486.0403552576985,
+            -2272.8516285964783,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            484.5403552576985,
+            -2270.253552385125,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            483.0403552576985,
+            -2267.655476173772,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            481.5403552576985,
+            -2265.057399962419,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            480.0403552576985,
+            -2262.4593237510658,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            478.5403552576985,
+            -2259.8612475397126,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            477.0403552576985,
+            -2257.2631713283595,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            475.5403552576985,
+            -2254.6650951170063,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            474.0403552576985,
+            -2252.067018905653,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            472.5403552576985,
+            -2249.4689426943,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            471.0403552576985,
+            -2246.870866482947,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            469.5403552576985,
+            -2244.2727902715937,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            469.5403552576985,
+            -2244.2727902715937,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915224
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            466.94227904634516,
+            -2242.7727902715937,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915224
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            440.0,
+            -2200.0,
+            -205.967
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_7-37-31_2042830296/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_7-37-31_2042830296/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f1b62e1fa143154216962a05b3f520ec54b54d9d
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_7-37-31_2042830296/pose.jsonl
@@ -0,0 +1,340 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1053.9245345465893,
+            -2366.087949511667,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1056.5226107579426,
+            -2364.587949511667,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1059.120686969296,
+            -2363.087949511667,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1061.7187631806494,
+            -2361.587949511667,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1064.3168393920027,
+            -2360.087949511667,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1066.9149156033561,
+            -2358.587949511667,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1069.5129918147095,
+            -2357.087949511667,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1072.1110680260629,
+            -2355.587949511667,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1074.7091442374162,
+            -2354.087949511667,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1077.3072204487696,
+            -2352.587949511667,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1079.905296660123,
+            -2351.087949511667,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1082.5033728714764,
+            -2349.587949511667,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1085.1014490828297,
+            -2348.087949511667,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1087.699525294183,
+            -2346.587949511667,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1090.2976015055365,
+            -2345.087949511667,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1092.8956777168898,
+            -2343.587949511667,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1095.4937539282432,
+            -2342.087949511667,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1098.0918301395966,
+            -2340.587949511667,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1100.68990635095,
+            -2339.087949511667,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1103.2879825623033,
+            -2337.587949511667,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1105.8860587736567,
+            -2336.087949511667,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1108.48413498501,
+            -2334.587949511667,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1111.0822111963635,
+            -2333.087949511667,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1113.6802874077168,
+            -2331.587949511667,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1116.2783636190702,
+            -2330.087949511667,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1156.0,
+            -2312.0,
+            -213.669
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_7-4-14_1955769409/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_7-4-14_1955769409/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c6ef36c4735a350ebda1c761a0b2d361a42b9006
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_7-4-14_1955769409/pose.jsonl
@@ -0,0 +1,379 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            287.2261882621177,
+            -1318.9861037186238,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            288.7261882621177,
+            -1316.3880275072704,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            290.2261882621177,
+            -1313.789951295917,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            291.7261882621177,
+            -1311.1918750845637,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            293.2261882621177,
+            -1308.5937988732103,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            294.7261882621177,
+            -1305.995722661857,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            296.2261882621177,
+            -1303.3976464505035,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            297.7261882621177,
+            -1300.7995702391502,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            299.2261882621177,
+            -1298.2014940277968,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            300.7261882621177,
+            -1295.6034178164434,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            302.2261882621177,
+            -1293.00534160509,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            303.7261882621177,
+            -1290.4072653937367,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            305.2261882621177,
+            -1287.8091891823833,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            306.7261882621177,
+            -1285.21111297103,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            308.2261882621177,
+            -1282.6130367596766,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            309.7261882621177,
+            -1280.0149605483232,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            311.2261882621177,
+            -1277.4168843369698,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            312.7261882621177,
+            -1274.8188081256164,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            314.2261882621177,
+            -1272.220731914263,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            315.7261882621177,
+            -1269.6226557029097,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            317.2261882621177,
+            -1267.0245794915563,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            318.7261882621177,
+            -1264.426503280203,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            318.7261882621177,
+            -1264.426503280203,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            318.7261882621177,
+            -1261.426503280203,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            318.7261882621177,
+            -1258.426503280203,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            318.7261882621177,
+            -1255.426503280203,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            318.7261882621177,
+            -1252.426503280203,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            318.7261882621177,
+            -1249.426503280203,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            332.0,
+            -1220.0,
+            -225.684
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_7-40-30_2070707654/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_7-40-30_2070707654/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bc50c0fbce545d545a79c1ec753b645a0e26a7d3
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_7-40-30_2070707654/pose.jsonl
@@ -0,0 +1,483 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1068.0403021652999,
+            -3083.44955694138,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1065.0403021652999,
+            -3083.44955694138,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1062.0403021652999,
+            -3083.44955694138,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1059.0403021652999,
+            -3083.44955694138,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1056.0403021652999,
+            -3083.44955694138,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1053.0403021652999,
+            -3083.44955694138,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1053.0403021652999,
+            -3083.44955694138,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1053.0403021652999,
+            -3083.44955694138,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1051.5403021652999,
+            -3086.047633152733,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1050.0403021652999,
+            -3088.645709364086,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1048.5403021652999,
+            -3091.2437855754392,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1048.5403021652999,
+            -3091.2437855754392,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982706
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1045.9422259539465,
+            -3092.7437855754392,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1043.3441497425931,
+            -3094.2437855754392,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1040.7460735312397,
+            -3095.7437855754392,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1038.1479973198864,
+            -3097.2437855754392,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1035.549921108533,
+            -3098.7437855754392,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1032.9518448971796,
+            -3100.2437855754392,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1030.3537686858263,
+            -3101.7437855754392,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1027.7556924744729,
+            -3103.2437855754392,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1025.1576162631195,
+            -3104.7437855754392,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1022.5595400517661,
+            -3106.2437855754392,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1019.9614638404128,
+            -3107.7437855754392,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1017.3633876290594,
+            -3109.2437855754392,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1014.765311417706,
+            -3110.7437855754392,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1012.1672352063526,
+            -3112.2437855754392,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1009.5691589949993,
+            -3113.7437855754392,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1006.9710827836459,
+            -3115.2437855754392,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1004.3730065722925,
+            -3116.7437855754392,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1001.7749303609392,
+            -3118.2437855754392,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -999.1768541495858,
+            -3119.7437855754392,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -996.5787779382324,
+            -3121.2437855754392,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -993.980701726879,
+            -3122.7437855754392,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -991.3826255155257,
+            -3124.2437855754392,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -988.7845493041723,
+            -3125.7437855754392,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -986.1864730928189,
+            -3127.2437855754392,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -964.0,
+            -3136.0,
+            -205.779
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_7-44-43_1680687005/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_7-44-43_1680687005/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..461a7432db2628ac4c89e64774c5e4304a006dac
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_7-44-43_1680687005/pose.jsonl
@@ -0,0 +1,587 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            209.28866265973218,
+            -1514.9709843134938,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            209.28866265973218,
+            -1511.9709843134938,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            209.28866265973218,
+            -1508.9709843134938,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            209.28866265973218,
+            -1505.9709843134938,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            209.28866265973218,
+            -1502.9709843134938,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            209.28866265973218,
+            -1499.9709843134938,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            209.28866265973218,
+            -1496.9709843134938,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            209.28866265973218,
+            -1493.9709843134938,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            209.28866265973218,
+            -1490.9709843134938,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            209.28866265973218,
+            -1487.9709843134938,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            209.28866265973218,
+            -1484.9709843134938,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            209.28866265973218,
+            -1481.9709843134938,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            209.28866265973218,
+            -1478.9709843134938,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            209.28866265973218,
+            -1475.9709843134938,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            209.28866265973218,
+            -1472.9709843134938,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            209.28866265973218,
+            -1469.9709843134938,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            209.28866265973218,
+            -1466.9709843134938,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            209.28866265973218,
+            -1463.9709843134938,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            209.28866265973218,
+            -1460.9709843134938,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            209.28866265973218,
+            -1457.9709843134938,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            209.28866265973218,
+            -1454.9709843134938,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            209.28866265973218,
+            -1451.9709843134938,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            209.28866265973218,
+            -1448.9709843134938,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            209.28866265973218,
+            -1445.9709843134938,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            209.28866265973218,
+            -1442.9709843134938,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            209.28866265973218,
+            -1439.9709843134938,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            209.28866265973218,
+            -1439.9709843134938,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            210.78866265973218,
+            -1437.3729081021404,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            212.28866265973218,
+            -1434.774831890787,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            213.78866265973218,
+            -1432.1767556794337,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            215.28866265973218,
+            -1429.5786794680803,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            216.78866265973218,
+            -1426.980603256727,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            218.28866265973218,
+            -1424.3825270453735,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            219.78866265973218,
+            -1421.7844508340202,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            221.28866265973218,
+            -1419.1863746226668,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            222.78866265973218,
+            -1416.5882984113134,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            224.28866265973218,
+            -1413.99022219996,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            225.78866265973218,
+            -1411.3921459886067,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            227.28866265973218,
+            -1408.7940697772533,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            228.78866265973218,
+            -1406.1959935659,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            230.28866265973218,
+            -1403.5979173545466,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            231.78866265973218,
+            -1400.9998411431932,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            233.28866265973218,
+            -1398.4017649318398,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            234.78866265973218,
+            -1395.8036887204864,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            240.0,
+            -1372.0,
+            -205.963
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_7-51-2_543906158/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_7-51-2_543906158/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b91d2dec56fa971db2189be407181e90fdd01dba
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_7-51-2_543906158/pose.jsonl
@@ -0,0 +1,561 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            767.1482573577416,
+            -1307.9431820588288,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            764.5501811463882,
+            -1309.4431820588288,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            761.9521049350349,
+            -1310.9431820588288,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            759.3540287236815,
+            -1312.4431820588288,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            756.7559525123281,
+            -1313.9431820588288,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            754.1578763009747,
+            -1315.4431820588288,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            751.5598000896214,
+            -1316.9431820588288,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            748.961723878268,
+            -1318.4431820588288,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            746.3636476669146,
+            -1319.9431820588288,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            743.7655714555613,
+            -1321.4431820588288,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            741.1674952442079,
+            -1322.9431820588288,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            738.5694190328545,
+            -1324.4431820588288,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            735.9713428215011,
+            -1325.9431820588288,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            733.3732666101478,
+            -1327.4431820588288,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            730.7751903987944,
+            -1328.9431820588288,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            728.177114187441,
+            -1330.4431820588288,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            725.5790379760876,
+            -1331.9431820588288,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            722.9809617647343,
+            -1333.4431820588288,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            720.3828855533809,
+            -1334.9431820588288,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            717.7848093420275,
+            -1336.4431820588288,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            715.1867331306742,
+            -1337.9431820588288,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            712.5886569193208,
+            -1339.4431820588288,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            709.9905807079674,
+            -1340.9431820588288,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            707.392504496614,
+            -1342.4431820588288,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            704.7944282852607,
+            -1343.9431820588288,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            702.1963520739073,
+            -1345.4431820588288,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            699.5982758625539,
+            -1346.9431820588288,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            697.0001996512005,
+            -1348.4431820588288,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            694.4021234398472,
+            -1349.9431820588288,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            691.8040472284938,
+            -1351.4431820588288,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            689.2059710171404,
+            -1352.9431820588288,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            686.607894805787,
+            -1354.4431820588288,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            686.607894805787,
+            -1354.4431820588288,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            683.607894805787,
+            -1354.4431820588288,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            680.607894805787,
+            -1354.4431820588288,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            677.607894805787,
+            -1354.4431820588288,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            674.607894805787,
+            -1354.4431820588288,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            671.607894805787,
+            -1354.4431820588288,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            668.607894805787,
+            -1354.4431820588288,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            665.607894805787,
+            -1354.4431820588288,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            662.607894805787,
+            -1354.4431820588288,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            659.607894805787,
+            -1354.4431820588288,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            640.0,
+            -1360.0,
+            -201.594
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-10_7-7-38_1189914410/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-10_7-7-38_1189914410/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5327b1d2f7189f353927bd1d16cace6d87db654e
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-10_7-7-38_1189914410/pose.jsonl
@@ -0,0 +1,366 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -760.4783303098845,
+            -1812.8106841164704,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -758.9783303098845,
+            -1815.4087603278238,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -757.4783303098845,
+            -1818.0068365391771,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -755.9783303098845,
+            -1820.6049127505305,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -754.4783303098845,
+            -1823.2029889618839,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -752.9783303098845,
+            -1825.8010651732372,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -751.4783303098845,
+            -1828.3991413845906,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -749.9783303098845,
+            -1830.997217595944,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -748.4783303098845,
+            -1833.5952938072974,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -746.9783303098845,
+            -1836.1933700186507,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -745.4783303098845,
+            -1838.791446230004,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -743.9783303098845,
+            -1841.3895224413575,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -742.4783303098845,
+            -1843.9875986527109,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -740.9783303098845,
+            -1846.5856748640642,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -739.4783303098845,
+            -1849.1837510754176,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -737.9783303098845,
+            -1851.781827286771,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -736.4783303098845,
+            -1854.3799034981243,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -734.9783303098845,
+            -1856.9779797094777,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -733.4783303098845,
+            -1859.576055920831,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -731.9783303098845,
+            -1862.1741321321845,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -730.4783303098845,
+            -1864.7722083435378,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -728.9783303098845,
+            -1867.3702845548912,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -728.9783303098845,
+            -1867.3702845548912,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -726.3802540985312,
+            -1868.8702845548912,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -723.7821778871778,
+            -1870.3702845548912,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -721.1841016758244,
+            -1871.8702845548912,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -718.586025464471,
+            -1873.3702845548912,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -704.0,
+            -1896.0,
+            -203.555
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-9_20-34-32_521595368/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-9_20-34-32_521595368/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2f337b1f9862d6ee1d10f0bc5cfbb455174523de
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-9_20-34-32_521595368/pose.jsonl
@@ -0,0 +1,522 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            377.8270088708309,
+            -1434.578615015544,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            374.8270088708309,
+            -1434.578615015544,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            371.8270088708309,
+            -1434.578615015544,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            368.8270088708309,
+            -1434.578615015544,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            365.8270088708309,
+            -1434.578615015544,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            362.8270088708309,
+            -1434.578615015544,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            359.8270088708309,
+            -1434.578615015544,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            356.8270088708309,
+            -1434.578615015544,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            353.8270088708309,
+            -1434.578615015544,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            350.8270088708309,
+            -1434.578615015544,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            347.8270088708309,
+            -1434.578615015544,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            344.8270088708309,
+            -1434.578615015544,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            341.8270088708309,
+            -1434.578615015544,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            338.8270088708309,
+            -1434.578615015544,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            335.8270088708309,
+            -1434.578615015544,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            332.8270088708309,
+            -1434.578615015544,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            329.8270088708309,
+            -1434.578615015544,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            326.8270088708309,
+            -1434.578615015544,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            323.8270088708309,
+            -1434.578615015544,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            320.8270088708309,
+            -1434.578615015544,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            317.8270088708309,
+            -1434.578615015544,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            314.8270088708309,
+            -1434.578615015544,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            311.8270088708309,
+            -1434.578615015544,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            308.8270088708309,
+            -1434.578615015544,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            305.8270088708309,
+            -1434.578615015544,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            302.8270088708309,
+            -1434.578615015544,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            299.8270088708309,
+            -1434.578615015544,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            296.8270088708309,
+            -1434.578615015544,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            293.8270088708309,
+            -1434.578615015544,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            290.8270088708309,
+            -1434.578615015544,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            287.8270088708309,
+            -1434.578615015544,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            284.8270088708309,
+            -1434.578615015544,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            281.8270088708309,
+            -1434.578615015544,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            278.8270088708309,
+            -1434.578615015544,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            275.8270088708309,
+            -1434.578615015544,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            275.8270088708309,
+            -1434.578615015544,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            273.2289326594776,
+            -1436.078615015544,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            270.6308564481243,
+            -1437.578615015544,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            268.032780236771,
+            -1439.078615015544,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            240.0,
+            -1440.0,
+            -225.243
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-9_20-36-4_861021530/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-9_20-36-4_861021530/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..971e736b16ccad61c513bdff034d86ac6949cc7a
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-9_20-36-4_861021530/pose.jsonl
@@ -0,0 +1,418 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -883.6100110098172,
+            -3061.9106974671668,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -886.2080872211704,
+            -3063.4106974671668,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -888.8061634325238,
+            -3064.9106974671668,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -891.4042396438772,
+            -3066.4106974671668,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -894.0023158552306,
+            -3067.9106974671668,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -896.6003920665839,
+            -3069.4106974671668,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -899.1984682779373,
+            -3070.9106974671668,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -901.7965444892907,
+            -3072.4106974671668,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -904.394620700644,
+            -3073.9106974671668,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -906.9926969119974,
+            -3075.4106974671668,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -909.5907731233508,
+            -3076.9106974671668,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -912.1888493347042,
+            -3078.4106974671668,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -914.7869255460575,
+            -3079.9106974671668,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -917.3850017574109,
+            -3081.4106974671668,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -919.9830779687643,
+            -3082.9106974671668,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -922.5811541801177,
+            -3084.4106974671668,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -925.179230391471,
+            -3085.9106974671668,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -927.7773066028244,
+            -3087.4106974671668,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -927.7773066028244,
+            -3087.4106974671668,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -929.2773066028244,
+            -3090.00877367852,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -930.7773066028244,
+            -3092.606849889873,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -932.2773066028244,
+            -3095.204926101226,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -933.7773066028244,
+            -3097.8030023125793,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -935.2773066028244,
+            -3100.4010785239325,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -936.7773066028244,
+            -3102.9991547352856,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -938.2773066028244,
+            -3105.597230946639,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -939.7773066028244,
+            -3108.195307157992,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -941.2773066028244,
+            -3110.793383369345,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -942.7773066028244,
+            -3113.391459580698,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -944.2773066028244,
+            -3115.9895357920514,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -945.7773066028244,
+            -3118.5876120034045,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -964.0,
+            -3136.0,
+            -205.779
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-9_20-45-42_184803526/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-9_20-45-42_184803526/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..320b8f63cd3defd5635340f44a9ea66255259612
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-9_20-45-42_184803526/pose.jsonl
@@ -0,0 +1,379 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -986.6991444258254,
+            -3236.5085875327177,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -986.6991444258254,
+            -3233.5085875327177,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -986.6991444258254,
+            -3230.5085875327177,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -986.6991444258254,
+            -3227.5085875327177,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -986.6991444258254,
+            -3224.5085875327177,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -986.6991444258254,
+            -3221.5085875327177,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -986.6991444258254,
+            -3218.5085875327177,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -986.6991444258254,
+            -3215.5085875327177,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -986.6991444258254,
+            -3212.5085875327177,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -986.6991444258254,
+            -3209.5085875327177,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -986.6991444258254,
+            -3206.5085875327177,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -986.6991444258254,
+            -3203.5085875327177,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -986.6991444258254,
+            -3200.5085875327177,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -986.6991444258254,
+            -3197.5085875327177,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -986.6991444258254,
+            -3194.5085875327177,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -986.6991444258254,
+            -3191.5085875327177,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -986.6991444258254,
+            -3191.5085875327177,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -985.1991444258254,
+            -3188.9105113213645,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -983.6991444258254,
+            -3186.3124351100114,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -982.1991444258254,
+            -3183.7143588986582,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -980.6991444258254,
+            -3181.116282687305,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -979.1991444258254,
+            -3178.518206475952,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -977.6991444258254,
+            -3175.920130264599,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -976.1991444258254,
+            -3173.3220540532457,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -974.6991444258254,
+            -3170.7239778418925,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -973.1991444258254,
+            -3168.1259016305394,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -971.6991444258254,
+            -3165.5278254191862,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -970.1991444258254,
+            -3162.929749207833,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -964.0,
+            -3136.0,
+            -205.779
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-9_20-57-24_1780695788/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-9_20-57-24_1780695788/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9464d92c694ef3d6d8fb8ae8c7132b440e683005
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-9_20-57-24_1780695788/pose.jsonl
@@ -0,0 +1,535 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            446.71049524750305,
+            -1343.8097370717328,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            448.21049524750305,
+            -1341.2116608603794,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            449.71049524750305,
+            -1338.613584649026,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            451.21049524750305,
+            -1336.0155084376727,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            452.71049524750305,
+            -1333.4174322263193,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            454.21049524750305,
+            -1330.819356014966,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            455.71049524750305,
+            -1328.2212798036126,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            457.21049524750305,
+            -1325.6232035922592,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            458.71049524750305,
+            -1323.0251273809058,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            460.21049524750305,
+            -1320.4270511695524,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            461.71049524750305,
+            -1317.828974958199,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            463.21049524750305,
+            -1315.2308987468457,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            464.71049524750305,
+            -1312.6328225354923,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            466.21049524750305,
+            -1310.034746324139,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            467.71049524750305,
+            -1307.4366701127856,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            469.21049524750305,
+            -1304.8385939014322,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            470.71049524750305,
+            -1302.2405176900788,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            472.21049524750305,
+            -1299.6424414787255,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            473.71049524750305,
+            -1297.044365267372,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            475.21049524750305,
+            -1294.4462890560187,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            476.71049524750305,
+            -1291.8482128446653,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            478.21049524750305,
+            -1289.250136633312,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            479.71049524750305,
+            -1286.6520604219586,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            481.21049524750305,
+            -1284.0539842106052,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            482.71049524750305,
+            -1281.4559079992518,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            484.21049524750305,
+            -1278.8578317878985,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            485.71049524750305,
+            -1276.259755576545,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            487.21049524750305,
+            -1273.6616793651917,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            488.71049524750305,
+            -1271.0636031538384,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            490.21049524750305,
+            -1268.465526942485,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            491.71049524750305,
+            -1265.8674507311316,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            493.21049524750305,
+            -1263.2693745197782,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            494.71049524750305,
+            -1260.6712983084249,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            494.71049524750305,
+            -1260.6712983084249,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            497.30857145885636,
+            -1259.1712983084249,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            499.9066476702097,
+            -1257.6712983084249,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            502.504723881563,
+            -1256.1712983084249,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            505.1028000929163,
+            -1254.6712983084249,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            507.7008763042696,
+            -1253.1712983084249,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            510.29895251562294,
+            -1251.6712983084249,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            528.0,
+            -1224.0,
+            -203.312
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-9_21-12-51_1610120709/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-9_21-12-51_1610120709/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..be12bfaad3b957876d68d9ba28effc0fcf4cce16
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-9_21-12-51_1610120709/pose.jsonl
@@ -0,0 +1,496 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -931.4199611466476,
+            -3258.55442963349,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -931.4199611466476,
+            -3255.55442963349,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -931.4199611466476,
+            -3252.55442963349,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -931.4199611466476,
+            -3249.55442963349,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -931.4199611466476,
+            -3246.55442963349,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -931.4199611466476,
+            -3243.55442963349,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -931.4199611466476,
+            -3240.55442963349,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -931.4199611466476,
+            -3237.55442963349,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -931.4199611466476,
+            -3234.55442963349,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -931.4199611466476,
+            -3231.55442963349,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -931.4199611466476,
+            -3228.55442963349,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -931.4199611466476,
+            -3225.55442963349,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -931.4199611466476,
+            -3222.55442963349,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -931.4199611466476,
+            -3219.55442963349,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -931.4199611466476,
+            -3216.55442963349,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -931.4199611466476,
+            -3213.55442963349,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -931.4199611466476,
+            -3210.55442963349,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -931.4199611466476,
+            -3210.55442963349,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -932.9199611466476,
+            -3207.956353422137,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -934.4199611466476,
+            -3205.358277210784,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -935.9199611466476,
+            -3202.7602009994307,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -937.4199611466476,
+            -3200.1621247880776,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -938.9199611466476,
+            -3197.5640485767244,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -940.4199611466476,
+            -3194.9659723653713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -941.9199611466476,
+            -3192.367896154018,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -943.4199611466476,
+            -3189.769819942665,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -944.9199611466476,
+            -3187.171743731312,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -946.4199611466476,
+            -3184.5736675199587,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -947.9199611466476,
+            -3181.9755913086055,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -949.4199611466476,
+            -3179.3775150972524,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -950.9199611466476,
+            -3176.7794388858993,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -952.4199611466476,
+            -3174.181362674546,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -953.9199611466476,
+            -3171.583286463193,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -955.4199611466476,
+            -3168.98521025184,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -956.9199611466476,
+            -3166.3871340404867,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -958.4199611466476,
+            -3163.7890578291335,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -959.9199611466476,
+            -3161.1909816177804,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -964.0,
+            -3136.0,
+            -205.779
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-9_21-15-22_269455306/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-9_21-15-22_269455306/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f8a6f270ac31b7a44a862f32aafc1e5b527f2512
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-9_21-15-22_269455306/pose.jsonl
@@ -0,0 +1,418 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            266.5128038640927,
+            -1717.6624543246025,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            263.9147276527394,
+            -1719.1624543246025,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            261.31665144138606,
+            -1720.6624543246025,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            258.71857523003274,
+            -1722.1624543246025,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            256.1204990186794,
+            -1723.6624543246025,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            253.5224228073261,
+            -1725.1624543246025,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            250.9243465959728,
+            -1726.6624543246025,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            248.32627038461948,
+            -1728.1624543246025,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            245.72819417326616,
+            -1729.6624543246025,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            243.13011796191284,
+            -1731.1624543246025,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            240.53204175055953,
+            -1732.6624543246025,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            237.9339655392062,
+            -1734.1624543246025,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            235.3358893278529,
+            -1735.6624543246025,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            232.73781311649958,
+            -1737.1624543246025,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            230.13973690514626,
+            -1738.6624543246025,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            227.54166069379295,
+            -1740.1624543246025,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            224.94358448243963,
+            -1741.6624543246025,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            222.34550827108632,
+            -1743.1624543246025,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            219.747432059733,
+            -1744.6624543246025,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            217.14935584837968,
+            -1746.1624543246025,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            214.55127963702637,
+            -1747.6624543246025,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            211.95320342567305,
+            -1749.1624543246025,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            209.35512721431974,
+            -1750.6624543246025,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            206.75705100296642,
+            -1752.1624543246025,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            204.1589747916131,
+            -1753.6624543246025,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            201.5608985802598,
+            -1755.1624543246025,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            198.96282236890647,
+            -1756.6624543246025,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            196.36474615755316,
+            -1758.1624543246025,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            196.36474615755316,
+            -1758.1624543246025,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            193.36474615755316,
+            -1758.1624543246025,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            190.36474615755316,
+            -1758.1624543246025,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            156.0,
+            -1776.0,
+            -214.057
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-9_21-19-35_2077486715/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-9_21-19-35_2077486715/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3f80443cc9d748c859c3192149d61d3978cc01ed
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-9_21-19-35_2077486715/pose.jsonl
@@ -0,0 +1,327 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            117.05463821555324,
+            -1787.5884851003989,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            115.55463821555324,
+            -1784.9904088890455,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            114.05463821555324,
+            -1782.3923326776921,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            112.55463821555324,
+            -1779.7942564663388,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            111.05463821555324,
+            -1777.1961802549854,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            109.55463821555324,
+            -1774.598104043632,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            108.05463821555324,
+            -1772.0000278322786,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            106.55463821555324,
+            -1769.4019516209253,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            105.05463821555324,
+            -1766.803875409572,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            103.55463821555324,
+            -1764.2057991982185,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            102.05463821555324,
+            -1761.6077229868652,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            100.55463821555324,
+            -1759.0096467755118,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            99.05463821555324,
+            -1756.4115705641584,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            97.55463821555324,
+            -1753.813494352805,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            96.05463821555324,
+            -1751.2154181414517,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            94.55463821555324,
+            -1748.6173419300983,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            93.05463821555324,
+            -1746.019265718745,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            91.55463821555324,
+            -1743.4211895073915,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            90.05463821555324,
+            -1740.8231132960382,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            88.55463821555324,
+            -1738.2250370846848,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            87.05463821555324,
+            -1735.6269608733314,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            85.55463821555324,
+            -1733.028884661978,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            84.05463821555324,
+            -1730.4308084506247,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            82.55463821555324,
+            -1727.8327322392713,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            68.0,
+            -1696.0,
+            -213.853
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-9_21-36-25_1789366143/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-9_21-36-25_1789366143/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f40f6dc85c538b521789c25b131cce14c9a6bd3a
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-9_21-36-25_1789366143/pose.jsonl
@@ -0,0 +1,535 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -57.16003719553301,
+            -1513.2066128049469,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -59.758113406886324,
+            -1514.7066128049469,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -62.35618961823964,
+            -1516.2066128049469,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -64.95426582959296,
+            -1517.7066128049469,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -67.55234204094627,
+            -1519.2066128049469,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -70.15041825229959,
+            -1520.7066128049469,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -72.7484944636529,
+            -1522.2066128049469,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -75.34657067500622,
+            -1523.7066128049469,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -77.94464688635954,
+            -1525.2066128049469,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -80.54272309771285,
+            -1526.7066128049469,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -83.14079930906617,
+            -1528.2066128049469,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -85.73887552041948,
+            -1529.7066128049469,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -88.3369517317728,
+            -1531.2066128049469,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -90.93502794312612,
+            -1532.7066128049469,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -93.53310415447943,
+            -1534.2066128049469,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -96.13118036583275,
+            -1535.7066128049469,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -98.72925657718606,
+            -1537.2066128049469,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -101.32733278853938,
+            -1538.7066128049469,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -103.9254089998927,
+            -1540.2066128049469,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -106.52348521124601,
+            -1541.7066128049469,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -109.12156142259933,
+            -1543.2066128049469,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -111.71963763395264,
+            -1544.7066128049469,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -114.31771384530596,
+            -1546.2066128049469,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -116.91579005665928,
+            -1547.7066128049469,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -119.51386626801259,
+            -1549.2066128049469,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -119.51386626801259,
+            -1549.2066128049469,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -122.51386626801259,
+            -1549.2066128049469,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -125.51386626801259,
+            -1549.2066128049469,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -128.51386626801258,
+            -1549.2066128049469,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -131.51386626801258,
+            -1549.2066128049469,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -134.51386626801258,
+            -1549.2066128049469,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -137.51386626801258,
+            -1549.2066128049469,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -140.51386626801258,
+            -1549.2066128049469,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -143.51386626801258,
+            -1549.2066128049469,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -146.51386626801258,
+            -1549.2066128049469,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -149.51386626801258,
+            -1549.2066128049469,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -152.51386626801258,
+            -1549.2066128049469,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -155.51386626801258,
+            -1549.2066128049469,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -158.51386626801258,
+            -1549.2066128049469,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -161.51386626801258,
+            -1549.2066128049469,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -180.0,
+            -1556.0,
+            -205.885
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-9_21-4-30_1975960378/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-9_21-4-30_1975960378/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b3673c0a0750fee933655c3360e4068df0cd97d4
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-9_21-4-30_1975960378/pose.jsonl
@@ -0,0 +1,444 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            176.7495963398114,
+            -1419.5895821494564,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            178.2495963398114,
+            -1416.991505938103,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            179.7495963398114,
+            -1414.3934297267497,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            181.2495963398114,
+            -1411.7953535153963,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            182.7495963398114,
+            -1409.197277304043,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            184.2495963398114,
+            -1406.5992010926896,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            185.7495963398114,
+            -1404.0011248813362,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            187.2495963398114,
+            -1401.4030486699828,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            188.7495963398114,
+            -1398.8049724586294,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            190.2495963398114,
+            -1396.206896247276,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            191.7495963398114,
+            -1393.6088200359227,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            193.2495963398114,
+            -1391.0107438245693,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            194.7495963398114,
+            -1388.412667613216,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            196.2495963398114,
+            -1385.8145914018626,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            197.7495963398114,
+            -1383.2165151905092,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            199.2495963398114,
+            -1380.6184389791558,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            200.7495963398114,
+            -1378.0203627678025,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            202.2495963398114,
+            -1375.422286556449,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            203.7495963398114,
+            -1372.8242103450957,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            205.2495963398114,
+            -1370.2261341337423,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            206.7495963398114,
+            -1367.628057922389,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            208.2495963398114,
+            -1365.0299817110356,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            209.7495963398114,
+            -1362.4319054996822,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            211.2495963398114,
+            -1359.8338292883288,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            212.7495963398114,
+            -1357.2357530769755,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            214.2495963398114,
+            -1354.637676865622,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            215.7495963398114,
+            -1352.0396006542687,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            217.2495963398114,
+            -1349.4415244429154,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            218.7495963398114,
+            -1346.843448231562,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            220.2495963398114,
+            -1344.2453720202086,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            221.7495963398114,
+            -1341.6472958088552,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            221.7495963398114,
+            -1341.6472958088552,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            224.34767255116472,
+            -1340.1472958088552,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            240.0,
+            -1316.0,
+            -219.268
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-9_21-42-20_1351797369/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-9_21-42-20_1351797369/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..074a0ab8f4416840d1e437532ec71db05534d2a6
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-9_21-42-20_1351797369/pose.jsonl
@@ -0,0 +1,483 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -800.1406614431106,
+            -1983.7141308863604,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -798.6406614431106,
+            -1981.116054675007,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -797.1406614431106,
+            -1978.5179784636537,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -795.6406614431106,
+            -1975.9199022523003,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -794.1406614431106,
+            -1973.321826040947,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -792.6406614431106,
+            -1970.7237498295935,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -791.1406614431106,
+            -1968.1256736182402,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -789.6406614431106,
+            -1965.5275974068868,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -789.6406614431106,
+            -1965.5275974068868,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -787.0425852317574,
+            -1964.0275974068868,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -784.444509020404,
+            -1962.5275974068868,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -781.8464328090506,
+            -1961.0275974068868,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -779.2483565976972,
+            -1959.5275974068868,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -776.6502803863439,
+            -1958.0275974068868,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -774.0522041749905,
+            -1956.5275974068868,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -771.4541279636371,
+            -1955.0275974068868,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -768.8560517522837,
+            -1953.5275974068868,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -766.2579755409304,
+            -1952.0275974068868,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -763.659899329577,
+            -1950.5275974068868,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -761.0618231182236,
+            -1949.0275974068868,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -758.4637469068703,
+            -1947.5275974068868,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -755.8656706955169,
+            -1946.0275974068868,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -753.2675944841635,
+            -1944.5275974068868,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -750.6695182728101,
+            -1943.0275974068868,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -748.0714420614568,
+            -1941.5275974068868,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -745.4733658501034,
+            -1940.0275974068868,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -742.87528963875,
+            -1938.5275974068868,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -740.2772134273966,
+            -1937.0275974068868,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -740.2772134273966,
+            -1937.0275974068868,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -738.7772134273966,
+            -1934.4295211955334,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -737.2772134273966,
+            -1931.83144498418,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -735.7772134273966,
+            -1929.2333687728267,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -734.2772134273966,
+            -1926.6352925614733,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -732.7772134273966,
+            -1924.03721635012,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -731.2772134273966,
+            -1921.4391401387666,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -729.7772134273966,
+            -1918.8410639274132,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -704.0,
+            -1896.0,
+            -203.555
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-9_21-45-57_1096689772/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-9_21-45-57_1096689772/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c6da08599494f44ff2dc595cb2663e1b7dc90132
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-9_21-45-57_1096689772/pose.jsonl
@@ -0,0 +1,379 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1076.489030940248,
+            -2391.697400020328,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1077.989030940248,
+            -2389.099323808975,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1079.489030940248,
+            -2386.501247597622,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1080.989030940248,
+            -2383.9031713862687,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1082.489030940248,
+            -2381.3050951749156,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1083.989030940248,
+            -2378.7070189635624,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1085.489030940248,
+            -2376.1089427522093,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1086.989030940248,
+            -2373.510866540856,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1088.489030940248,
+            -2370.912790329503,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1089.989030940248,
+            -2368.31471411815,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1091.489030940248,
+            -2365.7166379067967,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1092.989030940248,
+            -2363.1185616954435,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1094.489030940248,
+            -2360.5204854840904,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1095.989030940248,
+            -2357.9224092727372,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1097.489030940248,
+            -2355.324333061384,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1097.489030940248,
+            -2355.324333061384,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915224
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1100.0871071516015,
+            -2353.824333061384,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1102.6851833629548,
+            -2352.324333061384,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1105.2832595743082,
+            -2350.824333061384,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1107.8813357856616,
+            -2349.324333061384,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1110.479411997015,
+            -2347.824333061384,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1113.0774882083683,
+            -2346.324333061384,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1115.6755644197217,
+            -2344.824333061384,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1118.273640631075,
+            -2343.324333061384,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1120.8717168424284,
+            -2341.824333061384,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1123.4697930537818,
+            -2340.324333061384,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1126.0678692651352,
+            -2338.824333061384,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1128.6659454764886,
+            -2337.324333061384,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1156.0,
+            -2312.0,
+            -213.669
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-9_21-53-27_654887343/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-9_21-53-27_654887343/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9c6e40fe609588390dcbc8cff0d9900a89b2b499
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-9_21-53-27_654887343/pose.jsonl
@@ -0,0 +1,457 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            193.32247993516248,
+            -1666.8938265686138,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            191.82247993516248,
+            -1669.4919027799672,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            190.32247993516248,
+            -1672.0899789913205,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            188.82247993516248,
+            -1674.688055202674,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            187.32247993516248,
+            -1677.2861314140273,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            185.82247993516248,
+            -1679.8842076253807,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            184.32247993516248,
+            -1682.482283836734,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            182.82247993516248,
+            -1685.0803600480874,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            181.32247993516248,
+            -1687.6784362594408,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            179.82247993516248,
+            -1690.2765124707942,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            178.32247993516248,
+            -1692.8745886821475,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            176.82247993516248,
+            -1695.472664893501,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            175.32247993516248,
+            -1698.0707411048543,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            173.82247993516248,
+            -1700.6688173162077,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            172.32247993516248,
+            -1703.266893527561,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            170.82247993516248,
+            -1705.8649697389144,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            169.32247993516248,
+            -1708.4630459502678,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            167.82247993516248,
+            -1711.0611221616211,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            166.32247993516248,
+            -1713.6591983729745,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            166.32247993516248,
+            -1713.6591983729745,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            166.32247993516248,
+            -1716.6591983729745,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            166.32247993516248,
+            -1719.6591983729745,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            166.32247993516248,
+            -1722.6591983729745,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            166.32247993516248,
+            -1725.6591983729745,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            166.32247993516248,
+            -1728.6591983729745,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            166.32247993516248,
+            -1731.6591983729745,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            166.32247993516248,
+            -1734.6591983729745,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            166.32247993516248,
+            -1737.6591983729745,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            166.32247993516248,
+            -1740.6591983729745,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            166.32247993516248,
+            -1743.6591983729745,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            166.32247993516248,
+            -1746.6591983729745,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            166.32247993516248,
+            -1749.6591983729745,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            166.32247993516248,
+            -1749.6591983729745,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            164.82247993516248,
+            -1752.257274584328,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            156.0,
+            -1776.0,
+            -214.057
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-9_21-54-53_87755422/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-9_21-54-53_87755422/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7179987f7cb5abed631195cca4f7415709c12a44
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-9_21-54-53_87755422/pose.jsonl
@@ -0,0 +1,639 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -617.3736276821426,
+            -1830.2360884669167,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -618.8736276821426,
+            -1832.83416467827,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -618.8736276821426,
+            -1832.83416467827,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -621.4717038934959,
+            -1834.33416467827,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -624.0697801048493,
+            -1835.83416467827,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -626.6678563162027,
+            -1837.33416467827,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -629.2659325275561,
+            -1838.83416467827,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -631.8640087389094,
+            -1840.33416467827,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -634.4620849502628,
+            -1841.83416467827,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -637.0601611616162,
+            -1843.33416467827,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -639.6582373729696,
+            -1844.83416467827,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -642.2563135843229,
+            -1846.33416467827,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -644.8543897956763,
+            -1847.83416467827,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -647.4524660070297,
+            -1849.33416467827,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -650.050542218383,
+            -1850.83416467827,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -652.6486184297364,
+            -1852.33416467827,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -655.2466946410898,
+            -1853.83416467827,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -657.8447708524432,
+            -1855.33416467827,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -660.4428470637965,
+            -1856.83416467827,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -663.0409232751499,
+            -1858.33416467827,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -665.6389994865033,
+            -1859.83416467827,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -668.2370756978567,
+            -1861.33416467827,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -670.83515190921,
+            -1862.83416467827,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -673.4332281205634,
+            -1864.33416467827,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -676.0313043319168,
+            -1865.83416467827,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -678.6293805432701,
+            -1867.33416467827,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -678.6293805432701,
+            -1867.33416467827,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -680.1293805432701,
+            -1869.9322408896235,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -681.6293805432701,
+            -1872.5303171009768,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -683.1293805432701,
+            -1875.1283933123302,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -684.6293805432701,
+            -1877.7264695236836,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -686.1293805432701,
+            -1880.324545735037,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -687.6293805432701,
+            -1882.9226219463903,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -689.1293805432701,
+            -1885.5206981577437,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -689.1293805432701,
+            -1885.5206981577437,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -689.1293805432701,
+            -1888.5206981577437,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -689.1293805432701,
+            -1891.5206981577437,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -689.1293805432701,
+            -1894.5206981577437,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -689.1293805432701,
+            -1897.5206981577437,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -689.1293805432701,
+            -1900.5206981577437,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -689.1293805432701,
+            -1903.5206981577437,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -689.1293805432701,
+            -1906.5206981577437,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -689.1293805432701,
+            -1906.5206981577437,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -690.6293805432701,
+            -1909.118774369097,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -692.1293805432701,
+            -1911.7168505804505,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -693.6293805432701,
+            -1914.3149267918038,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -695.1293805432701,
+            -1916.9130030031572,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -696.6293805432701,
+            -1919.5110792145106,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -712.0,
+            -1940.0,
+            -205.963
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-9_21-58-50_1590079444/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-9_21-58-50_1590079444/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b12e04444af5f4a7d635a1ddbbdbaa43331f2268
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-9_21-58-50_1590079444/pose.jsonl
@@ -0,0 +1,574 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            316.2530886006,
+            -1192.7226002171417,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            314.7530886006,
+            -1195.320676428495,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            313.2530886006,
+            -1197.9187526398484,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            311.7530886006,
+            -1200.5168288512018,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            310.2530886006,
+            -1203.1149050625552,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            308.7530886006,
+            -1205.7129812739086,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            307.2530886006,
+            -1208.311057485262,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            305.7530886006,
+            -1210.9091336966153,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            304.2530886006,
+            -1213.5072099079687,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            302.7530886006,
+            -1216.105286119322,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            301.2530886006,
+            -1218.7033623306754,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            299.7530886006,
+            -1221.3014385420288,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            298.2530886006,
+            -1223.8995147533822,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            296.7530886006,
+            -1226.4975909647355,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            295.2530886006,
+            -1229.095667176089,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            293.7530886006,
+            -1231.6937433874423,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            292.2530886006,
+            -1234.2918195987957,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            290.7530886006,
+            -1236.889895810149,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            289.2530886006,
+            -1239.4879720215024,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            287.7530886006,
+            -1242.0860482328558,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            286.2530886006,
+            -1244.6841244442091,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            284.7530886006,
+            -1247.2822006555625,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            283.2530886006,
+            -1249.880276866916,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            281.7530886006,
+            -1252.4783530782693,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            280.2530886006,
+            -1255.0764292896226,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            278.7530886006,
+            -1257.674505500976,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            277.2530886006,
+            -1260.2725817123294,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            275.7530886006,
+            -1262.8706579236828,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            274.2530886006,
+            -1265.4687341350361,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            272.7530886006,
+            -1268.0668103463895,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            271.2530886006,
+            -1270.6648865577429,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            269.7530886006,
+            -1273.2629627690962,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            268.2530886006,
+            -1275.8610389804496,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            266.7530886006,
+            -1278.459115191803,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            265.2530886006,
+            -1281.0571914031564,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            263.7530886006,
+            -1283.6552676145097,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            262.2530886006,
+            -1286.253343825863,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            260.7530886006,
+            -1288.8514200372165,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            259.2530886006,
+            -1291.4494962485699,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            257.7530886006,
+            -1294.0475724599232,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            257.7530886006,
+            -1294.0475724599232,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            255.15501238924668,
+            -1295.5475724599232,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            252.55693617789336,
+            -1297.0475724599232,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            240.0,
+            -1316.0,
+            -219.268
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-11-45_2025187190/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-11-45_2025187190/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b1518d3e4c827866917f2387c95b8f527545af6a
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-11-45_2025187190/pose.jsonl
@@ -0,0 +1,262 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -748.8747243041464,
+            -1842.5090072729733,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -746.276648092793,
+            -1844.0090072729733,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -743.6785718814397,
+            -1845.5090072729733,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -741.0804956700863,
+            -1847.0090072729733,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -738.4824194587329,
+            -1848.5090072729733,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -735.8843432473795,
+            -1850.0090072729733,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -733.2862670360262,
+            -1851.5090072729733,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -730.6881908246728,
+            -1853.0090072729733,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -728.0901146133194,
+            -1854.5090072729733,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -725.492038401966,
+            -1856.0090072729733,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -722.8939621906127,
+            -1857.5090072729733,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -720.2958859792593,
+            -1859.0090072729733,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -717.6978097679059,
+            -1860.5090072729733,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -715.0997335565526,
+            -1862.0090072729733,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -715.0997335565526,
+            -1862.0090072729733,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -713.5997335565526,
+            -1864.6070834843267,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -712.0997335565526,
+            -1867.20515969568,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -710.5997335565526,
+            -1869.8032359070335,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -709.0997335565526,
+            -1872.4013121183868,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -656.0,
+            -1916.0,
+            -213.853
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-13-3_1704365084/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-13-3_1704365084/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3cce7f1d7636f12695fa0665ec7fa9de91652fa3
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-13-3_1704365084/pose.jsonl
@@ -0,0 +1,509 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -894.6645247594329,
+            -3248.1460045918634,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -896.1645247594329,
+            -3245.5479283805103,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -897.6645247594329,
+            -3242.949852169157,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -899.1645247594329,
+            -3240.351775957804,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -900.6645247594329,
+            -3237.753699746451,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -902.1645247594329,
+            -3235.1556235350977,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -903.6645247594329,
+            -3232.5575473237445,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -905.1645247594329,
+            -3229.9594711123914,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -906.6645247594329,
+            -3227.3613949010382,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -908.1645247594329,
+            -3224.763318689685,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -909.6645247594329,
+            -3222.165242478332,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -911.1645247594329,
+            -3219.567166266979,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -912.6645247594329,
+            -3216.9690900556257,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -914.1645247594329,
+            -3214.3710138442725,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -915.6645247594329,
+            -3211.7729376329194,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -917.1645247594329,
+            -3209.174861421566,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -918.6645247594329,
+            -3206.576785210213,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -920.1645247594329,
+            -3203.97870899886,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -921.6645247594329,
+            -3201.380632787507,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -923.1645247594329,
+            -3198.7825565761536,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -924.6645247594329,
+            -3196.1844803648005,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -926.1645247594329,
+            -3193.5864041534473,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -927.6645247594329,
+            -3190.988327942094,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -929.1645247594329,
+            -3188.390251730741,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -930.6645247594329,
+            -3185.792175519388,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -932.1645247594329,
+            -3183.1940993080348,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -933.6645247594329,
+            -3180.5960230966816,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -935.1645247594329,
+            -3177.9979468853285,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -936.6645247594329,
+            -3175.3998706739753,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -938.1645247594329,
+            -3172.801794462622,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -939.6645247594329,
+            -3170.203718251269,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -941.1645247594329,
+            -3167.605642039916,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -942.6645247594329,
+            -3165.0075658285627,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -944.1645247594329,
+            -3162.4094896172096,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -945.6645247594329,
+            -3159.8114134058565,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -945.6645247594329,
+            -3159.8114134058565,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915224
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -948.2626009707863,
+            -3158.3114134058565,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -950.8606771821396,
+            -3156.8114134058565,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -964.0,
+            -3136.0,
+            -205.779
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-14-58_1876855542/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-14-58_1876855542/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b9b35ab6e9af060e4c5bf122e3fcf39eb868502c
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-14-58_1876855542/pose.jsonl
@@ -0,0 +1,418 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -35.78895100393673,
+            -1754.2580107563476,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -33.190874792583415,
+            -1752.7580107563476,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -30.5927985812301,
+            -1751.2580107563476,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -27.994722369876783,
+            -1749.7580107563476,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -25.396646158523467,
+            -1748.2580107563476,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -22.79856994717015,
+            -1746.7580107563476,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -20.200493735816835,
+            -1745.2580107563476,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -17.60241752446352,
+            -1743.7580107563476,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -15.004341313110203,
+            -1742.2580107563476,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -12.406265101756887,
+            -1740.7580107563476,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -9.80818889040357,
+            -1739.2580107563476,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -7.210112679050255,
+            -1737.7580107563476,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -4.612036467696939,
+            -1736.2580107563476,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -2.0139602563436227,
+            -1734.7580107563476,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            0.5841159550096933,
+            -1733.2580107563476,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            3.1821921663630093,
+            -1731.7580107563476,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            5.780268377716325,
+            -1730.2580107563476,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            8.378344589069641,
+            -1728.7580107563476,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            10.976420800422957,
+            -1727.2580107563476,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            13.574497011776273,
+            -1725.7580107563476,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            16.17257322312959,
+            -1724.2580107563476,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            18.770649434482905,
+            -1722.7580107563476,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            21.36872564583622,
+            -1721.2580107563476,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            23.966801857189537,
+            -1719.7580107563476,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            26.564878068542853,
+            -1718.2580107563476,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            29.16295427989617,
+            -1716.7580107563476,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            31.761030491249485,
+            -1715.2580107563476,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            34.3591067026028,
+            -1713.7580107563476,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            36.95718291395612,
+            -1712.2580107563476,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            39.55525912530943,
+            -1710.7580107563476,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            42.15333533666275,
+            -1709.2580107563476,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            68.0,
+            -1696.0,
+            -213.853
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-16-21_588219756/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-16-21_588219756/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6efd5ac6b5d32c5730fe7bf2dfce2e6dcd2b09a0
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-16-21_588219756/pose.jsonl
@@ -0,0 +1,145 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -650.4754530788712,
+            -2710.19010756378,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -647.8773768675178,
+            -2711.69010756378,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -645.2793006561644,
+            -2713.19010756378,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -642.681224444811,
+            -2714.69010756378,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -640.0831482334577,
+            -2716.19010756378,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -637.4850720221043,
+            -2717.69010756378,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -634.8869958107509,
+            -2719.19010756378,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -632.2889195993976,
+            -2720.69010756378,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -629.6908433880442,
+            -2722.19010756378,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -627.0927671766908,
+            -2723.69010756378,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -520.0,
+            -2776.0,
+            -177.42
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-17-11_995706887/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-17-11_995706887/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6eaca7413c19e0395bad97d725050711ec2eb0f3
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-17-11_995706887/pose.jsonl
@@ -0,0 +1,301 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            454.28910127841806,
+            -2301.700373144206,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            454.28910127841806,
+            -2298.700373144206,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            454.28910127841806,
+            -2295.700373144206,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            454.28910127841806,
+            -2292.700373144206,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            454.28910127841806,
+            -2289.700373144206,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            454.28910127841806,
+            -2286.700373144206,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            454.28910127841806,
+            -2283.700373144206,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            454.28910127841806,
+            -2280.700373144206,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            454.28910127841806,
+            -2277.700373144206,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            454.28910127841806,
+            -2274.700373144206,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            454.28910127841806,
+            -2271.700373144206,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            454.28910127841806,
+            -2268.700373144206,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            454.28910127841806,
+            -2265.700373144206,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            454.28910127841806,
+            -2262.700373144206,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            454.28910127841806,
+            -2262.700373144206,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            452.78910127841806,
+            -2260.102296932853,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            451.28910127841806,
+            -2257.5042207214997,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            449.78910127841806,
+            -2254.9061445101465,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            448.28910127841806,
+            -2252.3080682987934,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            446.78910127841806,
+            -2249.7099920874402,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            445.28910127841806,
+            -2247.111915876087,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            443.78910127841806,
+            -2244.513839664734,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            440.0,
+            -2200.0,
+            -205.967
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-17-27_1823089412/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-17-27_1823089412/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f9506b9babb5950ab16af128c378ab10db2b4328
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-17-27_1823089412/pose.jsonl
@@ -0,0 +1,496 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -607.0859251498825,
+            -2104.411377525242,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -608.5859251498825,
+            -2107.0094537365953,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -610.0859251498825,
+            -2109.6075299479485,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -611.5859251498825,
+            -2112.2056061593016,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -613.0859251498825,
+            -2114.8036823706548,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -614.5859251498825,
+            -2117.401758582008,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -616.0859251498825,
+            -2119.999834793361,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -617.5859251498825,
+            -2122.597911004714,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -619.0859251498825,
+            -2125.1959872160674,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -620.5859251498825,
+            -2127.7940634274205,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -622.0859251498825,
+            -2130.3921396387736,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -623.5859251498825,
+            -2132.990215850127,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -625.0859251498825,
+            -2135.58829206148,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -626.5859251498825,
+            -2138.186368272833,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -628.0859251498825,
+            -2140.784444484186,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -629.5859251498825,
+            -2143.3825206955394,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -631.0859251498825,
+            -2145.9805969068925,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -632.5859251498825,
+            -2148.5786731182457,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -634.0859251498825,
+            -2151.176749329599,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -635.5859251498825,
+            -2153.774825540952,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -637.0859251498825,
+            -2156.372901752305,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -638.5859251498825,
+            -2158.9709779636582,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -640.0859251498825,
+            -2161.5690541750114,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -641.5859251498825,
+            -2164.1671303863645,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -643.0859251498825,
+            -2166.7652065977177,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -644.5859251498825,
+            -2169.363282809071,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -646.0859251498825,
+            -2171.961359020424,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -647.5859251498825,
+            -2174.559435231777,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -649.0859251498825,
+            -2177.1575114431303,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -650.5859251498825,
+            -2179.7555876544834,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -652.0859251498825,
+            -2182.3536638658366,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -652.0859251498825,
+            -2182.3536638658366,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915224
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -654.6840013612359,
+            -2183.8536638658366,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -657.2820775725893,
+            -2185.3536638658366,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -659.8801537839427,
+            -2186.8536638658366,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -662.478229995296,
+            -2188.3536638658366,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -665.0763062066494,
+            -2189.8536638658366,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -680.0,
+            -2208.0,
+            -225.684
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-19-39_298625210/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-19-39_298625210/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7a47a882b72d374bc8a11168ec8729711ed14e82
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-19-39_298625210/pose.jsonl
@@ -0,0 +1,496 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -279.7595741558089,
+            -1328.6063581315132,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -279.7595741558089,
+            -1331.6063581315132,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -279.7595741558089,
+            -1334.6063581315132,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -279.7595741558089,
+            -1337.6063581315132,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -279.7595741558089,
+            -1340.6063581315132,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -279.7595741558089,
+            -1343.6063581315132,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -279.7595741558089,
+            -1346.6063581315132,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -279.7595741558089,
+            -1349.6063581315132,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -279.7595741558089,
+            -1352.6063581315132,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -279.7595741558089,
+            -1355.6063581315132,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -279.7595741558089,
+            -1358.6063581315132,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -279.7595741558089,
+            -1361.6063581315132,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -279.7595741558089,
+            -1364.6063581315132,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -279.7595741558089,
+            -1367.6063581315132,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -279.7595741558089,
+            -1370.6063581315132,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -279.7595741558089,
+            -1373.6063581315132,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -279.7595741558089,
+            -1376.6063581315132,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -279.7595741558089,
+            -1379.6063581315132,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -279.7595741558089,
+            -1382.6063581315132,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -279.7595741558089,
+            -1385.6063581315132,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -279.7595741558089,
+            -1388.6063581315132,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -279.7595741558089,
+            -1391.6063581315132,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -279.7595741558089,
+            -1394.6063581315132,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -279.7595741558089,
+            -1397.6063581315132,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -279.7595741558089,
+            -1400.6063581315132,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -279.7595741558089,
+            -1403.6063581315132,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -279.7595741558089,
+            -1406.6063581315132,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -279.7595741558089,
+            -1409.6063581315132,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -279.7595741558089,
+            -1412.6063581315132,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -279.7595741558089,
+            -1415.6063581315132,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -279.7595741558089,
+            -1418.6063581315132,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -279.7595741558089,
+            -1418.6063581315132,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -278.2595741558089,
+            -1421.2044343428665,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -276.7595741558089,
+            -1423.80251055422,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -275.2595741558089,
+            -1426.4005867655733,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -273.7595741558089,
+            -1428.9986629769267,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -272.2595741558089,
+            -1431.59673918828,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -268.0,
+            -1452.0,
+            -201.911
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-20-47_1799878206/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-20-47_1799878206/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..46464fce818c0987b021767b81672c4be99edc1d
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-20-47_1799878206/pose.jsonl
@@ -0,0 +1,522 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            371.3483814924254,
+            -1088.8226977603779,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            369.8483814924254,
+            -1091.4207739717313,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            368.3483814924254,
+            -1094.0188501830846,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            366.8483814924254,
+            -1096.616926394438,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            365.3483814924254,
+            -1099.2150026057914,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            363.8483814924254,
+            -1101.8130788171447,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            362.3483814924254,
+            -1104.4111550284981,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            360.8483814924254,
+            -1107.0092312398515,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            359.3483814924254,
+            -1109.6073074512049,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            357.8483814924254,
+            -1112.2053836625582,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            356.3483814924254,
+            -1114.8034598739116,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            354.8483814924254,
+            -1117.401536085265,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            353.3483814924254,
+            -1119.9996122966184,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            351.8483814924254,
+            -1122.5976885079717,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            350.3483814924254,
+            -1125.195764719325,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            348.8483814924254,
+            -1127.7938409306785,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            347.3483814924254,
+            -1130.3919171420318,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            345.8483814924254,
+            -1132.9899933533852,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            344.3483814924254,
+            -1135.5880695647386,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            342.8483814924254,
+            -1138.186145776092,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            341.3483814924254,
+            -1140.7842219874453,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            339.8483814924254,
+            -1143.3822981987987,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            339.8483814924254,
+            -1143.3822981987987,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            339.8483814924254,
+            -1146.3822981987987,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            339.8483814924254,
+            -1149.3822981987987,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            339.8483814924254,
+            -1152.3822981987987,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            339.8483814924254,
+            -1155.3822981987987,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            339.8483814924254,
+            -1158.3822981987987,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            339.8483814924254,
+            -1161.3822981987987,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            339.8483814924254,
+            -1164.3822981987987,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            339.8483814924254,
+            -1167.3822981987987,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            339.8483814924254,
+            -1170.3822981987987,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            339.8483814924254,
+            -1173.3822981987987,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            339.8483814924254,
+            -1176.3822981987987,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            339.8483814924254,
+            -1179.3822981987987,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            339.8483814924254,
+            -1182.3822981987987,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            339.8483814924254,
+            -1185.3822981987987,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            339.8483814924254,
+            -1188.3822981987987,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            339.8483814924254,
+            -1191.3822981987987,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            332.0,
+            -1220.0,
+            -225.684
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-26-52_1414829150/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-26-52_1414829150/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..50b86e068b7fb874ca5d4a1685aee04c493db225
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-26-52_1414829150/pose.jsonl
@@ -0,0 +1,470 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -451.1665375427772,
+            -2346.862185527784,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -453.7646137541305,
+            -2345.362185527784,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -456.3626899654838,
+            -2343.862185527784,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -458.9607661768371,
+            -2342.362185527784,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -461.55884238819044,
+            -2340.862185527784,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -464.15691859954376,
+            -2339.362185527784,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -466.7549948108971,
+            -2337.862185527784,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -469.3530710222504,
+            -2336.362185527784,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -471.9511472336037,
+            -2334.862185527784,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -474.549223444957,
+            -2333.362185527784,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -477.14729965631034,
+            -2331.862185527784,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -479.74537586766365,
+            -2330.362185527784,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -482.34345207901697,
+            -2328.862185527784,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -484.9415282903703,
+            -2327.362185527784,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -487.5396045017236,
+            -2325.862185527784,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -490.1376807130769,
+            -2324.362185527784,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -492.73575692443023,
+            -2322.862185527784,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -495.33383313578355,
+            -2321.362185527784,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -497.93190934713687,
+            -2319.862185527784,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -500.5299855584902,
+            -2318.362185527784,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -503.1280617698435,
+            -2316.862185527784,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -505.7261379811968,
+            -2315.362185527784,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -508.32421419255013,
+            -2313.862185527784,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -510.92229040390345,
+            -2312.362185527784,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -513.5203666152568,
+            -2310.862185527784,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -513.5203666152568,
+            -2310.862185527784,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -516.5203666152568,
+            -2310.862185527784,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -519.5203666152568,
+            -2310.862185527784,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -522.5203666152568,
+            -2310.862185527784,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -525.5203666152568,
+            -2310.862185527784,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -528.5203666152568,
+            -2310.862185527784,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -531.5203666152568,
+            -2310.862185527784,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -534.5203666152568,
+            -2310.862185527784,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -537.5203666152568,
+            -2310.862185527784,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -540.5203666152568,
+            -2310.862185527784,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -572.0,
+            -2300.0,
+            -213.853
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-27-58_324763920/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-27-58_324763920/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..802805ed26855e9e282185f0c588305abebe33ac
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-27-58_324763920/pose.jsonl
@@ -0,0 +1,366 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -19.901837900545473,
+            -1751.242041573364,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -17.303761689192157,
+            -1749.742041573364,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -14.705685477838841,
+            -1748.242041573364,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -12.107609266485525,
+            -1746.742041573364,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -9.50953305513221,
+            -1745.242041573364,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -6.911456843778893,
+            -1743.742041573364,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -4.313380632425577,
+            -1742.242041573364,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1.7153044210722612,
+            -1740.742041573364,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            0.8827717902810548,
+            -1739.242041573364,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            3.480848001634371,
+            -1737.742041573364,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            6.078924212987687,
+            -1736.242041573364,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            8.677000424341003,
+            -1734.742041573364,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            11.275076635694319,
+            -1733.242041573364,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            13.873152847047635,
+            -1731.742041573364,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            16.47122905840095,
+            -1730.242041573364,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            19.069305269754267,
+            -1728.742041573364,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            21.667381481107583,
+            -1727.242041573364,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            24.2654576924609,
+            -1725.742041573364,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            26.863533903814215,
+            -1724.242041573364,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            29.46161011516753,
+            -1722.742041573364,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            32.05968632652085,
+            -1721.242041573364,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            34.65776253787416,
+            -1719.742041573364,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            37.25583874922748,
+            -1718.242041573364,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            39.853914960580795,
+            -1716.742041573364,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            39.853914960580795,
+            -1716.742041573364,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            41.353914960580795,
+            -1714.1439653620107,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            42.853914960580795,
+            -1711.5458891506573,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            68.0,
+            -1696.0,
+            -213.853
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-3-58_1238433452/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-3-58_1238433452/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..066b334fb3b8f851fc709153e921ba727fd520aa
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-3-58_1238433452/pose.jsonl
@@ -0,0 +1,418 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            186.69422934273288,
+            -1462.6543174142425,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            188.19422934273288,
+            -1465.252393625596,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            189.69422934273288,
+            -1467.8504698369493,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            191.19422934273288,
+            -1470.4485460483027,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            192.69422934273288,
+            -1473.046622259656,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            194.19422934273288,
+            -1475.6446984710094,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            195.69422934273288,
+            -1478.2427746823628,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            197.19422934273288,
+            -1480.8408508937162,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            198.69422934273288,
+            -1483.4389271050695,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            200.19422934273288,
+            -1486.037003316423,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            201.69422934273288,
+            -1488.6350795277763,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            203.19422934273288,
+            -1491.2331557391296,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            204.69422934273288,
+            -1493.831231950483,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            206.19422934273288,
+            -1496.4293081618364,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            207.69422934273288,
+            -1499.0273843731898,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            209.19422934273288,
+            -1501.6254605845431,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            210.69422934273288,
+            -1504.2235367958965,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            212.19422934273288,
+            -1506.8216130072499,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            213.69422934273288,
+            -1509.4196892186033,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            215.19422934273288,
+            -1512.0177654299566,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            216.69422934273288,
+            -1514.61584164131,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            218.19422934273288,
+            -1517.2139178526634,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            219.69422934273288,
+            -1519.8119940640167,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            221.19422934273288,
+            -1522.4100702753701,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            222.69422934273288,
+            -1525.0081464867235,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            224.19422934273288,
+            -1527.6062226980769,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            225.69422934273288,
+            -1530.2042989094302,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            227.19422934273288,
+            -1532.8023751207836,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            228.69422934273288,
+            -1535.400451332137,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            230.19422934273288,
+            -1537.9985275434904,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            231.69422934273288,
+            -1540.5966037548437,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            240.0,
+            -1560.0,
+            -206.55
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-36-55_1566288819/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-36-55_1566288819/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7d54d9c1161cc8ceee0f14c49d28b190142d795a
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-36-55_1566288819/pose.jsonl
@@ -0,0 +1,379 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -210.29495459382406,
+            -1367.4740023019597,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -211.79495459382406,
+            -1370.072078513313,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -213.29495459382406,
+            -1372.6701547246664,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -214.79495459382406,
+            -1375.2682309360198,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -216.29495459382406,
+            -1377.8663071473732,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -217.79495459382406,
+            -1380.4643833587265,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -219.29495459382406,
+            -1383.06245957008,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -220.79495459382406,
+            -1385.6605357814333,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -222.29495459382406,
+            -1388.2586119927867,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -223.79495459382406,
+            -1390.85668820414,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -225.29495459382406,
+            -1393.4547644154934,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -226.79495459382406,
+            -1396.0528406268468,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -228.29495459382406,
+            -1398.6509168382001,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -229.79495459382406,
+            -1401.2489930495535,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -231.29495459382406,
+            -1403.847069260907,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -232.79495459382406,
+            -1406.4451454722603,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -234.29495459382406,
+            -1409.0432216836136,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -235.79495459382406,
+            -1411.641297894967,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -237.29495459382406,
+            -1414.2393741063204,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -238.79495459382406,
+            -1416.8374503176738,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -240.29495459382406,
+            -1419.4355265290271,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -241.79495459382406,
+            -1422.0336027403805,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -243.29495459382406,
+            -1424.6316789517339,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -243.29495459382406,
+            -1424.6316789517339,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -245.89303080517737,
+            -1426.1316789517339,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -248.4911070165307,
+            -1427.6316789517339,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -251.089183227884,
+            -1429.1316789517339,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -253.68725943923732,
+            -1430.6316789517339,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -268.0,
+            -1452.0,
+            -201.911
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-38-37_292218004/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-38-37_292218004/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ee29f26f50336a28d220446b84fd1f9568c77cba
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-38-37_292218004/pose.jsonl
@@ -0,0 +1,392 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            341.2216487501369,
+            -1273.8258143328062,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            338.6235725387836,
+            -1275.3258143328062,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            336.0254963274303,
+            -1276.8258143328062,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            333.427420116077,
+            -1278.3258143328062,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            330.82934390472366,
+            -1279.8258143328062,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            328.23126769337034,
+            -1281.3258143328062,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            325.633191482017,
+            -1282.8258143328062,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            323.0351152706637,
+            -1284.3258143328062,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            320.4370390593104,
+            -1285.8258143328062,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            317.8389628479571,
+            -1287.3258143328062,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            315.24088663660376,
+            -1288.8258143328062,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            312.64281042525045,
+            -1290.3258143328062,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            310.04473421389713,
+            -1291.8258143328062,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            307.4466580025438,
+            -1293.3258143328062,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            304.8485817911905,
+            -1294.8258143328062,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            302.2505055798372,
+            -1296.3258143328062,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            299.65242936848387,
+            -1297.8258143328062,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            297.05435315713055,
+            -1299.3258143328062,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            294.45627694577723,
+            -1300.8258143328062,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            291.8582007344239,
+            -1302.3258143328062,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            289.2601245230706,
+            -1303.8258143328062,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            286.6620483117173,
+            -1305.3258143328062,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            286.6620483117173,
+            -1305.3258143328062,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            283.6620483117173,
+            -1305.3258143328062,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            280.6620483117173,
+            -1305.3258143328062,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            277.6620483117173,
+            -1305.3258143328062,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            274.6620483117173,
+            -1305.3258143328062,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            271.6620483117173,
+            -1305.3258143328062,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            268.6620483117173,
+            -1305.3258143328062,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            240.0,
+            -1316.0,
+            -219.268
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-5-2_620145550/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-5-2_620145550/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d937a4ac4f249bae0f4b1c6236cbae536e98b083
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-5-2_620145550/pose.jsonl
@@ -0,0 +1,379 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -222.0040503801948,
+            -1362.6465793362142,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -223.5040503801948,
+            -1365.2446555475676,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -225.0040503801948,
+            -1367.842731758921,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -226.5040503801948,
+            -1370.4408079702744,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -228.0040503801948,
+            -1373.0388841816277,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -229.5040503801948,
+            -1375.636960392981,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -231.0040503801948,
+            -1378.2350366043345,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -232.5040503801948,
+            -1380.8331128156879,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -234.0040503801948,
+            -1383.4311890270412,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -235.5040503801948,
+            -1386.0292652383946,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -237.0040503801948,
+            -1388.627341449748,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -238.5040503801948,
+            -1391.2254176611013,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -240.0040503801948,
+            -1393.8234938724547,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -241.5040503801948,
+            -1396.421570083808,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -243.0040503801948,
+            -1399.0196462951615,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -244.5040503801948,
+            -1401.6177225065148,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -246.0040503801948,
+            -1404.2157987178682,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -247.5040503801948,
+            -1406.8138749292216,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -249.0040503801948,
+            -1409.411951140575,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -250.5040503801948,
+            -1412.0100273519283,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -252.0040503801948,
+            -1414.6081035632817,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -253.5040503801948,
+            -1417.206179774635,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -255.0040503801948,
+            -1419.8042559859884,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -256.50405038019477,
+            -1422.4023321973418,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393178
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -256.50405038019477,
+            -1422.4023321973418,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948792
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -256.50405038019477,
+            -1425.4023321973418,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -256.50405038019477,
+            -1428.4023321973418,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -256.50405038019477,
+            -1431.4023321973418,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -268.0,
+            -1452.0,
+            -201.911
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-50-15_777210498/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-50-15_777210498/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0ed2cda740be5df1ab28f29844e46e02bc827e5a
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-50-15_777210498/pose.jsonl
@@ -0,0 +1,457 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            146.85973978228162,
+            -1390.08112993567,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            148.35973978228162,
+            -1387.4830537243167,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            149.85973978228162,
+            -1384.8849775129634,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            151.35973978228162,
+            -1382.28690130161,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            152.85973978228162,
+            -1379.6888250902566,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            154.35973978228162,
+            -1377.0907488789032,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            155.85973978228162,
+            -1374.4926726675499,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            157.35973978228162,
+            -1371.8945964561965,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            158.85973978228162,
+            -1369.2965202448431,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            160.35973978228162,
+            -1366.6984440334897,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            161.85973978228162,
+            -1364.1003678221364,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            163.35973978228162,
+            -1361.502291610783,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            163.35973978228162,
+            -1361.502291610783,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            165.95781599363494,
+            -1360.002291610783,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            168.55589220498825,
+            -1358.502291610783,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            171.15396841634157,
+            -1357.002291610783,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            173.7520446276949,
+            -1355.502291610783,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            176.3501208390482,
+            -1354.002291610783,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            178.94819705040152,
+            -1352.502291610783,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            181.54627326175483,
+            -1351.002291610783,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            184.14434947310815,
+            -1349.502291610783,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            186.74242568446147,
+            -1348.002291610783,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            189.34050189581478,
+            -1346.502291610783,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            191.9385781071681,
+            -1345.002291610783,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            194.5366543185214,
+            -1343.502291610783,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            197.13473052987473,
+            -1342.002291610783,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            199.73280674122805,
+            -1340.502291610783,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            202.33088295258136,
+            -1339.002291610783,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            204.92895916393468,
+            -1337.502291610783,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            207.527035375288,
+            -1336.002291610783,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            210.1251115866413,
+            -1334.502291610783,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            212.72318779799463,
+            -1333.002291610783,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            215.32126400934794,
+            -1331.502291610783,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            217.91934022070126,
+            -1330.002291610783,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            240.0,
+            -1316.0,
+            -219.268
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-55-41_484238046/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-55-41_484238046/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c0dd482d19ac0fb22414338396afaffdc8693c6c
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-55-41_484238046/pose.jsonl
@@ -0,0 +1,613 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            105.42664776189619,
+            -1430.9388368261264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            108.42664776189619,
+            -1430.9388368261264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            111.42664776189619,
+            -1430.9388368261264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            114.42664776189619,
+            -1430.9388368261264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            117.42664776189619,
+            -1430.9388368261264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            120.42664776189619,
+            -1430.9388368261264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            123.42664776189619,
+            -1430.9388368261264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            126.42664776189619,
+            -1430.9388368261264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            129.4266477618962,
+            -1430.9388368261264,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            129.4266477618962,
+            -1430.9388368261264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            132.0247239732495,
+            -1429.4388368261264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            134.62280018460282,
+            -1427.9388368261264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            137.22087639595614,
+            -1426.4388368261264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            139.81895260730946,
+            -1424.9388368261264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            142.41702881866277,
+            -1423.4388368261264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            145.0151050300161,
+            -1421.9388368261264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            147.6131812413694,
+            -1420.4388368261264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            150.21125745272272,
+            -1418.9388368261264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            152.80933366407604,
+            -1417.4388368261264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            155.40740987542935,
+            -1415.9388368261264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            158.00548608678267,
+            -1414.4388368261264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            160.60356229813598,
+            -1412.9388368261264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            163.2016385094893,
+            -1411.4388368261264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            165.79971472084262,
+            -1409.9388368261264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            168.39779093219593,
+            -1408.4388368261264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            170.99586714354925,
+            -1406.9388368261264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            173.59394335490256,
+            -1405.4388368261264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            176.19201956625588,
+            -1403.9388368261264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            178.7900957776092,
+            -1402.4388368261264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            181.3881719889625,
+            -1400.9388368261264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            183.98624820031583,
+            -1399.4388368261264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            186.58432441166914,
+            -1397.9388368261264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            189.18240062302246,
+            -1396.4388368261264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            191.78047683437578,
+            -1394.9388368261264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            194.3785530457291,
+            -1393.4388368261264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            196.9766292570824,
+            -1391.9388368261264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            199.57470546843572,
+            -1390.4388368261264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            202.17278167978904,
+            -1388.9388368261264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            204.77085789114236,
+            -1387.4388368261264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            207.36893410249567,
+            -1385.9388368261264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            209.967010313849,
+            -1384.4388368261264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            212.5650865252023,
+            -1382.9388368261264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            215.16316273655562,
+            -1381.4388368261264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            217.76123894790894,
+            -1379.9388368261264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            220.35931515926225,
+            -1378.4388368261264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            222.95739137061557,
+            -1376.9388368261264,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            240.0,
+            -1372.0,
+            -205.963
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-6-47_2113903881/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-6-47_2113903881/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..91203ead6864f09e53c58ab5dc7959c20e652117
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-6-47_2113903881/pose.jsonl
@@ -0,0 +1,535 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            197.86944679047272,
+            -1569.7025072505937,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            199.36944679047272,
+            -1567.1044310392404,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            200.86944679047272,
+            -1564.506354827887,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            202.36944679047272,
+            -1561.9082786165336,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            203.86944679047272,
+            -1559.3102024051802,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            205.36944679047272,
+            -1556.7121261938269,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            206.86944679047272,
+            -1554.1140499824735,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            208.36944679047272,
+            -1551.5159737711201,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            209.86944679047272,
+            -1548.9178975597667,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            211.36944679047272,
+            -1546.3198213484134,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            212.86944679047272,
+            -1543.72174513706,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            214.36944679047272,
+            -1541.1236689257066,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            215.86944679047272,
+            -1538.5255927143533,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            217.36944679047272,
+            -1535.9275165029999,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            218.86944679047272,
+            -1533.3294402916465,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            220.36944679047272,
+            -1530.7313640802931,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            221.86944679047272,
+            -1528.1332878689398,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            223.36944679047272,
+            -1525.5352116575864,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            224.86944679047272,
+            -1522.937135446233,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            226.36944679047272,
+            -1520.3390592348796,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            227.86944679047272,
+            -1517.7409830235263,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            229.36944679047272,
+            -1515.142906812173,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            230.86944679047272,
+            -1512.5448306008195,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            230.86944679047272,
+            -1512.5448306008195,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            230.86944679047272,
+            -1509.5448306008195,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            230.86944679047272,
+            -1506.5448306008195,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            230.86944679047272,
+            -1503.5448306008195,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            230.86944679047272,
+            -1500.5448306008195,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            230.86944679047272,
+            -1497.5448306008195,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            230.86944679047272,
+            -1494.5448306008195,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            230.86944679047272,
+            -1491.5448306008195,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            230.86944679047272,
+            -1488.5448306008195,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            230.86944679047272,
+            -1485.5448306008195,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            230.86944679047272,
+            -1482.5448306008195,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            230.86944679047272,
+            -1479.5448306008195,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            230.86944679047272,
+            -1476.5448306008195,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            230.86944679047272,
+            -1473.5448306008195,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            230.86944679047272,
+            -1470.5448306008195,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            230.86944679047272,
+            -1467.5448306008195,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            230.86944679047272,
+            -1464.5448306008195,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            240.0,
+            -1440.0,
+            -225.243
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-7-28_1776808933/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-7-28_1776808933/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..40580b437ab80eab80c3f6ed91c513bd4d168fba
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-7-28_1776808933/pose.jsonl
@@ -0,0 +1,548 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            191.10758522295941,
+            -1616.1813306885713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            188.5095090116061,
+            -1617.6813306885713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            185.91143280025278,
+            -1619.1813306885713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            183.31335658889947,
+            -1620.6813306885713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            180.71528037754615,
+            -1622.1813306885713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            178.11720416619283,
+            -1623.6813306885713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            175.51912795483952,
+            -1625.1813306885713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            172.9210517434862,
+            -1626.6813306885713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            170.3229755321329,
+            -1628.1813306885713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            167.72489932077957,
+            -1629.6813306885713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            165.12682310942625,
+            -1631.1813306885713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            162.52874689807294,
+            -1632.6813306885713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            159.93067068671962,
+            -1634.1813306885713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            157.3325944753663,
+            -1635.6813306885713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            154.734518264013,
+            -1637.1813306885713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            152.13644205265967,
+            -1638.6813306885713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            149.53836584130636,
+            -1640.1813306885713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            146.94028962995304,
+            -1641.6813306885713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            144.34221341859973,
+            -1643.1813306885713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            141.7441372072464,
+            -1644.6813306885713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            139.1460609958931,
+            -1646.1813306885713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            136.54798478453978,
+            -1647.6813306885713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            133.94990857318646,
+            -1649.1813306885713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            131.35183236183315,
+            -1650.6813306885713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            128.75375615047983,
+            -1652.1813306885713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            126.15567993912651,
+            -1653.6813306885713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            123.5576037277732,
+            -1655.1813306885713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            120.95952751641988,
+            -1656.6813306885713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            118.36145130506657,
+            -1658.1813306885713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            115.76337509371325,
+            -1659.6813306885713,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            115.76337509371325,
+            -1659.6813306885713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            114.26337509371325,
+            -1662.2794068999247,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            112.76337509371325,
+            -1664.877483111278,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            111.26337509371325,
+            -1667.4755593226314,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            109.76337509371325,
+            -1670.0736355339848,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            108.26337509371325,
+            -1672.6717117453381,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            106.76337509371325,
+            -1675.2697879566915,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            106.76337509371325,
+            -1675.2697879566915,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            106.76337509371325,
+            -1675.2697879566915,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535897833
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            103.76337509371325,
+            -1675.2697879566915,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            100.76337509371325,
+            -1675.2697879566915,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            68.0,
+            -1696.0,
+            -213.853
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-9-23_1973387981/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-9-23_1973387981/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ce6f9d06f4cfbc68460a2ab2ade58213c1deee49
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-9_22-9-23_1973387981/pose.jsonl
@@ -0,0 +1,535 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            418.7374066364621,
+            -2077.8762246241436,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            421.7374066364621,
+            -2077.8762246241436,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            424.7374066364621,
+            -2077.8762246241436,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            424.7374066364621,
+            -2077.8762246241436,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            424.7374066364621,
+            -2077.8762246241436,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            426.2374066364621,
+            -2080.4743008354967,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            427.7374066364621,
+            -2083.07237704685,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            429.2374066364621,
+            -2085.670453258203,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            430.7374066364621,
+            -2088.268529469556,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            432.2374066364621,
+            -2090.8666056809093,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            433.7374066364621,
+            -2093.4646818922624,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            435.2374066364621,
+            -2096.0627581036156,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            436.7374066364621,
+            -2098.6608343149687,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            436.7374066364621,
+            -2098.6608343149687,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948681
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            436.7374066364621,
+            -2101.6608343149687,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            436.7374066364621,
+            -2104.6608343149687,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            436.7374066364621,
+            -2107.6608343149687,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            436.7374066364621,
+            -2110.6608343149687,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            436.7374066364621,
+            -2113.6608343149687,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            436.7374066364621,
+            -2116.6608343149687,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            436.7374066364621,
+            -2119.6608343149687,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            436.7374066364621,
+            -2122.6608343149687,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            436.7374066364621,
+            -2125.6608343149687,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            436.7374066364621,
+            -2128.6608343149687,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            436.7374066364621,
+            -2131.6608343149687,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            436.7374066364621,
+            -2134.6608343149687,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            436.7374066364621,
+            -2137.6608343149687,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            436.7374066364621,
+            -2140.6608343149687,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            436.7374066364621,
+            -2143.6608343149687,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            436.7374066364621,
+            -2146.6608343149687,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            436.7374066364621,
+            -2149.6608343149687,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            436.7374066364621,
+            -2152.6608343149687,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            436.7374066364621,
+            -2155.6608343149687,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            436.7374066364621,
+            -2158.6608343149687,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            436.7374066364621,
+            -2161.6608343149687,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            436.7374066364621,
+            -2164.6608343149687,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            436.7374066364621,
+            -2167.6608343149687,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            436.7374066364621,
+            -2170.6608343149687,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            436.7374066364621,
+            -2173.6608343149687,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            436.7374066364621,
+            -2176.6608343149687,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            440.0,
+            -2200.0,
+            -205.967
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-9_23-10-42_669908538/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-9_23-10-42_669908538/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9bfa1aa0bfc32959e67f5407b3e883cbd2550a0b
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-9_23-10-42_669908538/pose.jsonl
@@ -0,0 +1,327 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            202.09699775520383,
+            -1867.2485416026032,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            200.59699775520383,
+            -1864.6504653912498,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            199.09699775520383,
+            -1862.0523891798964,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            197.59699775520383,
+            -1859.454312968543,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            196.09699775520383,
+            -1856.8562367571897,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            194.59699775520383,
+            -1854.2581605458363,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            193.09699775520383,
+            -1851.660084334483,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            191.59699775520383,
+            -1849.0620081231295,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            190.09699775520383,
+            -1846.4639319117762,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            188.59699775520383,
+            -1843.8658557004228,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            187.09699775520383,
+            -1841.2677794890694,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            185.59699775520383,
+            -1838.669703277716,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            184.09699775520383,
+            -1836.0716270663627,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            182.59699775520383,
+            -1833.4735508550093,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            181.09699775520383,
+            -1830.875474643656,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            179.59699775520383,
+            -1828.2773984323026,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            178.09699775520383,
+            -1825.6793222209492,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            176.59699775520383,
+            -1823.0812460095958,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            175.09699775520383,
+            -1820.4831697982424,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            173.59699775520383,
+            -1817.885093586889,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            172.09699775520383,
+            -1815.2870173755357,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            172.09699775520383,
+            -1815.2870173755357,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            172.09699775520383,
+            -1812.2870173755357,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            172.09699775520383,
+            -1809.2870173755357,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            156.0,
+            -1776.0,
+            -214.057
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-9_23-11-23_12895151/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-9_23-11-23_12895151/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b37b1ea8befa963395cc6754cc406528a7ab7ab8
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-9_23-11-23_12895151/pose.jsonl
@@ -0,0 +1,470 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -793.6672915640872,
+            -2266.790774983266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -790.6672915640872,
+            -2266.790774983266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -787.6672915640872,
+            -2266.790774983266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -784.6672915640872,
+            -2266.790774983266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -781.6672915640872,
+            -2266.790774983266,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -781.6672915640872,
+            -2266.790774983266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -779.0692153527339,
+            -2265.290774983266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -776.4711391413805,
+            -2263.790774983266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -773.8730629300271,
+            -2262.290774983266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -771.2749867186737,
+            -2260.790774983266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -768.6769105073204,
+            -2259.290774983266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -766.078834295967,
+            -2257.790774983266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -763.4807580846136,
+            -2256.290774983266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -760.8826818732603,
+            -2254.790774983266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -758.2846056619069,
+            -2253.290774983266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -755.6865294505535,
+            -2251.790774983266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -753.0884532392001,
+            -2250.290774983266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -750.4903770278468,
+            -2248.790774983266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -747.8923008164934,
+            -2247.290774983266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -745.29422460514,
+            -2245.790774983266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -742.6961483937866,
+            -2244.290774983266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -740.0980721824333,
+            -2242.790774983266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -737.4999959710799,
+            -2241.290774983266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -734.9019197597265,
+            -2239.790774983266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -732.3038435483732,
+            -2238.290774983266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -729.7057673370198,
+            -2236.790774983266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -727.1076911256664,
+            -2235.290774983266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -724.509614914313,
+            -2233.790774983266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -721.9115387029597,
+            -2232.290774983266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -719.3134624916063,
+            -2230.790774983266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -716.7153862802529,
+            -2229.290774983266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -714.1173100688995,
+            -2227.790774983266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -711.5192338575462,
+            -2226.290774983266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -708.9211576461928,
+            -2224.790774983266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -706.3230814348394,
+            -2223.290774983266,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -680.0,
+            -2208.0,
+            -225.684
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-9_23-16-11_1472576335/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-9_23-16-11_1472576335/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1059079a26ccbfccc320f21c3a226d413313ef40
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-9_23-16-11_1472576335/pose.jsonl
@@ -0,0 +1,431 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1255.7495286130306,
+            -2248.519116520117,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1253.1514524016773,
+            -2250.019116520117,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1250.553376190324,
+            -2251.519116520117,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1247.9552999789705,
+            -2253.019116520117,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1245.3572237676171,
+            -2254.519116520117,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1242.7591475562638,
+            -2256.019116520117,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1240.1610713449104,
+            -2257.519116520117,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1237.562995133557,
+            -2259.019116520117,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1234.9649189222037,
+            -2260.519116520117,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1232.3668427108503,
+            -2262.019116520117,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1229.768766499497,
+            -2263.519116520117,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1227.1706902881435,
+            -2265.019116520117,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1224.5726140767902,
+            -2266.519116520117,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1221.9745378654368,
+            -2268.019116520117,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1219.3764616540834,
+            -2269.519116520117,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1216.77838544273,
+            -2271.019116520117,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1214.1803092313767,
+            -2272.519116520117,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1211.5822330200233,
+            -2274.019116520117,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1208.98415680867,
+            -2275.519116520117,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1206.3860805973165,
+            -2277.019116520117,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1203.7880043859632,
+            -2278.519116520117,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1201.1899281746098,
+            -2280.019116520117,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1198.5918519632564,
+            -2281.519116520117,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1195.993775751903,
+            -2283.019116520117,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1193.3956995405497,
+            -2284.519116520117,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1190.7976233291963,
+            -2286.019116520117,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1188.199547117843,
+            -2287.519116520117,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1185.6014709064896,
+            -2289.019116520117,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1185.6014709064896,
+            -2289.019116520117,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1184.1014709064896,
+            -2291.6171927314704,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1182.6014709064896,
+            -2294.2152689428235,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1181.1014709064896,
+            -2296.8133451541767,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1156.0,
+            -2312.0,
+            -213.669
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-9_23-23-35_1780172261/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-9_23-23-35_1780172261/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e783790b46e495545382e8f216f187889a0aba60
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-9_23-23-35_1780172261/pose.jsonl
@@ -0,0 +1,392 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -611.2720260484018,
+            -1799.831061585564,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -612.7720260484018,
+            -1802.4291377969173,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -614.2720260484018,
+            -1805.0272140082707,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -615.7720260484018,
+            -1807.625290219624,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -617.2720260484018,
+            -1810.2233664309774,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -618.7720260484018,
+            -1812.8214426423308,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -620.2720260484018,
+            -1815.4195188536842,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -621.7720260484018,
+            -1818.0175950650375,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -623.2720260484018,
+            -1820.615671276391,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -624.7720260484018,
+            -1823.2137474877443,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -626.2720260484018,
+            -1825.8118236990977,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -627.7720260484018,
+            -1828.409899910451,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -629.2720260484018,
+            -1831.0079761218044,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -630.7720260484018,
+            -1833.6060523331578,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -632.2720260484018,
+            -1836.2041285445111,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -633.7720260484018,
+            -1838.8022047558645,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -635.2720260484018,
+            -1841.400280967218,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -636.7720260484018,
+            -1843.9983571785713,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -638.2720260484018,
+            -1846.5964333899246,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -638.2720260484018,
+            -1846.5964333899246,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -638.2720260484018,
+            -1849.5964333899246,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -638.2720260484018,
+            -1852.5964333899246,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -638.2720260484018,
+            -1855.5964333899246,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -638.2720260484018,
+            -1858.5964333899246,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -638.2720260484018,
+            -1861.5964333899246,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -638.2720260484018,
+            -1864.5964333899246,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -638.2720260484018,
+            -1867.5964333899246,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -638.2720260484018,
+            -1870.5964333899246,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -638.2720260484018,
+            -1873.5964333899246,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -656.0,
+            -1916.0,
+            -213.853
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-9_23-24-17_1941690360/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-9_23-24-17_1941690360/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..66467343497300ef50289c83dd415d177e69e47c
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-9_23-24-17_1941690360/pose.jsonl
@@ -0,0 +1,496 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -987.2329984632858,
+            -3251.3303224470264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -987.2329984632858,
+            -3248.3303224470264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -987.2329984632858,
+            -3245.3303224470264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -987.2329984632858,
+            -3242.3303224470264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -987.2329984632858,
+            -3239.3303224470264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -987.2329984632858,
+            -3236.3303224470264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -987.2329984632858,
+            -3233.3303224470264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -987.2329984632858,
+            -3230.3303224470264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -987.2329984632858,
+            -3227.3303224470264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -987.2329984632858,
+            -3224.3303224470264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -987.2329984632858,
+            -3221.3303224470264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -987.2329984632858,
+            -3218.3303224470264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -987.2329984632858,
+            -3215.3303224470264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -987.2329984632858,
+            -3212.3303224470264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -987.2329984632858,
+            -3209.3303224470264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -987.2329984632858,
+            -3206.3303224470264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -987.2329984632858,
+            -3203.3303224470264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -987.2329984632858,
+            -3200.3303224470264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -987.2329984632858,
+            -3197.3303224470264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -987.2329984632858,
+            -3194.3303224470264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -987.2329984632858,
+            -3191.3303224470264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -987.2329984632858,
+            -3188.3303224470264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -987.2329984632858,
+            -3185.3303224470264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -987.2329984632858,
+            -3182.3303224470264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -987.2329984632858,
+            -3179.3303224470264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -987.2329984632858,
+            -3176.3303224470264,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -987.2329984632858,
+            -3176.3303224470264,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -987.2329984632858,
+            -3176.3303224470264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982989
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -984.6349222519325,
+            -3174.8303224470264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -982.0368460405791,
+            -3173.3303224470264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -979.4387698292257,
+            -3171.8303224470264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -976.8406936178724,
+            -3170.3303224470264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -974.242617406519,
+            -3168.8303224470264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -971.6445411951656,
+            -3167.3303224470264,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -971.6445411951656,
+            -3167.3303224470264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -970.1445411951656,
+            -3164.7322462356733,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -968.6445411951656,
+            -3162.13417002432,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -964.0,
+            -3136.0,
+            -205.779
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-9_23-24-59_847228023/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-9_23-24-59_847228023/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6d1d9d1e7661c1bb7382a7b62ad4cc811fa286df
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-9_23-24-59_847228023/pose.jsonl
@@ -0,0 +1,431 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            293.76595061026643,
+            -1416.1668540193245,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            292.26595061026643,
+            -1413.5687778079712,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            290.76595061026643,
+            -1410.9707015966178,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            289.26595061026643,
+            -1408.3726253852644,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            287.76595061026643,
+            -1405.774549173911,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            286.26595061026643,
+            -1403.1764729625577,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            284.76595061026643,
+            -1400.5783967512043,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            283.26595061026643,
+            -1397.980320539851,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            281.76595061026643,
+            -1395.3822443284976,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            280.26595061026643,
+            -1392.7841681171442,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            278.76595061026643,
+            -1390.1860919057908,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            277.26595061026643,
+            -1387.5880156944374,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            275.76595061026643,
+            -1384.989939483084,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            274.26595061026643,
+            -1382.3918632717307,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            272.76595061026643,
+            -1379.7937870603773,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            271.26595061026643,
+            -1377.195710849024,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            269.76595061026643,
+            -1374.5976346376706,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            268.26595061026643,
+            -1371.9995584263172,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            266.76595061026643,
+            -1369.4014822149638,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            265.26595061026643,
+            -1366.8034060036105,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            263.76595061026643,
+            -1364.205329792257,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            263.76595061026643,
+            -1364.205329792257,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            263.76595061026643,
+            -1361.205329792257,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            263.76595061026643,
+            -1358.205329792257,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            263.76595061026643,
+            -1358.205329792257,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            262.26595061026643,
+            -1355.6072535809037,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            260.76595061026643,
+            -1353.0091773695503,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            259.26595061026643,
+            -1350.411101158197,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            257.76595061026643,
+            -1347.8130249468436,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            256.26595061026643,
+            -1345.2149487354902,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            254.76595061026643,
+            -1342.6168725241369,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            253.26595061026643,
+            -1340.0187963127835,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            240.0,
+            -1316.0,
+            -219.268
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-9_23-27-20_500618996/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-9_23-27-20_500618996/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fcd5982855a88b1403db34692bc0df08dbca47b6
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-9_23-27-20_500618996/pose.jsonl
@@ -0,0 +1,522 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -61.926566606811605,
+            -1487.7379798432266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -64.52464281816492,
+            -1489.2379798432266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -67.12271902951824,
+            -1490.7379798432266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -69.72079524087155,
+            -1492.2379798432266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -72.31887145222487,
+            -1493.7379798432266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -74.91694766357818,
+            -1495.2379798432266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -77.5150238749315,
+            -1496.7379798432266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -80.11310008628482,
+            -1498.2379798432266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -82.71117629763813,
+            -1499.7379798432266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -85.30925250899145,
+            -1501.2379798432266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -87.90732872034476,
+            -1502.7379798432266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -90.50540493169808,
+            -1504.2379798432266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -93.1034811430514,
+            -1505.7379798432266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -95.70155735440471,
+            -1507.2379798432266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -98.29963356575803,
+            -1508.7379798432266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -100.89770977711134,
+            -1510.2379798432266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -103.49578598846466,
+            -1511.7379798432266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -106.09386219981798,
+            -1513.2379798432266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -108.6919384111713,
+            -1514.7379798432266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -111.29001462252461,
+            -1516.2379798432266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -113.88809083387792,
+            -1517.7379798432266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -116.48616704523124,
+            -1519.2379798432266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -119.08424325658456,
+            -1520.7379798432266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -121.68231946793787,
+            -1522.2379798432266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -124.28039567929119,
+            -1523.7379798432266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -126.8784718906445,
+            -1525.2379798432266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -129.47654810199782,
+            -1526.7379798432266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -132.07462431335114,
+            -1528.2379798432266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -134.67270052470445,
+            -1529.7379798432266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -137.27077673605777,
+            -1531.2379798432266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -139.86885294741109,
+            -1532.7379798432266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -142.4669291587644,
+            -1534.2379798432266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -145.06500537011772,
+            -1535.7379798432266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -147.66308158147103,
+            -1537.2379798432266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -150.26115779282435,
+            -1538.7379798432266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -152.85923400417767,
+            -1540.2379798432266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -155.45731021553098,
+            -1541.7379798432266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -158.0553864268843,
+            -1543.2379798432266,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -160.6534626382376,
+            -1544.7379798432266,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -180.0,
+            -1556.0,
+            -205.885
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-9_23-36-10_1708302647/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-9_23-36-10_1708302647/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5e393eb9450844c0e68731c56215fed38df92e1c
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-9_23-36-10_1708302647/pose.jsonl
@@ -0,0 +1,561 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1071.934966265392,
+            -2970.614677633359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1068.934966265392,
+            -2970.614677633359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1065.934966265392,
+            -2970.614677633359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1062.934966265392,
+            -2970.614677633359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1059.934966265392,
+            -2970.614677633359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1056.934966265392,
+            -2970.614677633359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1053.934966265392,
+            -2970.614677633359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1050.934966265392,
+            -2970.614677633359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1047.934966265392,
+            -2970.614677633359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1044.934966265392,
+            -2970.614677633359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1041.934966265392,
+            -2970.614677633359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1038.934966265392,
+            -2970.614677633359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1035.934966265392,
+            -2970.614677633359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1032.934966265392,
+            -2970.614677633359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1029.934966265392,
+            -2970.614677633359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1026.934966265392,
+            -2970.614677633359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1023.934966265392,
+            -2970.614677633359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1020.934966265392,
+            -2970.614677633359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1017.934966265392,
+            -2970.614677633359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1014.934966265392,
+            -2970.614677633359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1011.934966265392,
+            -2970.614677633359,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1011.934966265392,
+            -2970.614677633359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1009.3368900540386,
+            -2969.114677633359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1006.7388138426852,
+            -2967.614677633359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1004.1407376313318,
+            -2966.114677633359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1001.5426614199785,
+            -2964.614677633359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -998.9445852086251,
+            -2963.114677633359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -996.3465089972717,
+            -2961.614677633359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -993.7484327859183,
+            -2960.114677633359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -991.150356574565,
+            -2958.614677633359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -988.5522803632116,
+            -2957.114677633359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -985.9542041518582,
+            -2955.614677633359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -983.3561279405048,
+            -2954.114677633359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -980.7580517291515,
+            -2952.614677633359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -978.1599755177981,
+            -2951.114677633359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -975.5618993064447,
+            -2949.614677633359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -972.9638230950914,
+            -2948.114677633359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -970.365746883738,
+            -2946.614677633359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -967.7676706723846,
+            -2945.114677633359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -965.1695944610312,
+            -2943.614677633359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -962.5715182496779,
+            -2942.114677633359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -959.9734420383245,
+            -2940.614677633359,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -940.0,
+            -2936.0,
+            -205.779
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-9_23-39-59_70788355/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-9_23-39-59_70788355/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c701fc9794671d552bc58937a4928c00ea0a9485
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-9_23-39-59_70788355/pose.jsonl
@@ -0,0 +1,405 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -482.84224973859784,
+            -2384.237162282481,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -485.44032594995116,
+            -2382.737162282481,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -488.0384021613045,
+            -2381.237162282481,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -490.6364783726578,
+            -2379.737162282481,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -493.2345545840111,
+            -2378.237162282481,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -495.8326307953644,
+            -2376.737162282481,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -498.43070700671774,
+            -2375.237162282481,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -501.02878321807106,
+            -2373.737162282481,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -503.62685942942437,
+            -2372.237162282481,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -506.2249356407777,
+            -2370.737162282481,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -508.823011852131,
+            -2369.237162282481,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -511.4210880634843,
+            -2367.737162282481,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -514.0191642748376,
+            -2366.237162282481,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -516.6172404861909,
+            -2364.737162282481,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -519.2153166975443,
+            -2363.237162282481,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -521.8133929088976,
+            -2361.737162282481,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -521.8133929088976,
+            -2361.737162282481,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -523.3133929088976,
+            -2359.139086071128,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -524.8133929088976,
+            -2356.541009859775,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -526.3133929088976,
+            -2353.942933648422,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -527.8133929088976,
+            -2351.3448574370686,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -529.3133929088976,
+            -2348.7467812257155,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -530.8133929088976,
+            -2346.1487050143623,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -532.3133929088976,
+            -2343.550628803009,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -533.8133929088976,
+            -2340.952552591656,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -535.3133929088976,
+            -2338.354476380303,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -536.8133929088976,
+            -2335.7564001689498,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -538.3133929088976,
+            -2333.1583239575966,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -539.8133929088976,
+            -2330.5602477462435,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -541.3133929088976,
+            -2327.9621715348903,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -572.0,
+            -2300.0,
+            -213.853
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-9_23-44-37_887077888/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-9_23-44-37_887077888/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4c078ba9a21998f394c1fcb92d7d10b709ff815f
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-9_23-44-37_887077888/pose.jsonl
@@ -0,0 +1,392 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            174.94320003511734,
+            -1666.3426961347209,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            171.94320003511734,
+            -1666.3426961347209,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            168.94320003511734,
+            -1666.3426961347209,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            165.94320003511734,
+            -1666.3426961347209,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            162.94320003511734,
+            -1666.3426961347209,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            159.94320003511734,
+            -1666.3426961347209,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            156.94320003511734,
+            -1666.3426961347209,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            153.94320003511734,
+            -1666.3426961347209,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            150.94320003511734,
+            -1666.3426961347209,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            147.94320003511734,
+            -1666.3426961347209,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            144.94320003511734,
+            -1666.3426961347209,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            141.94320003511734,
+            -1666.3426961347209,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            138.94320003511734,
+            -1666.3426961347209,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            138.94320003511734,
+            -1666.3426961347209,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            136.34512382376403,
+            -1667.8426961347209,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            133.7470476124107,
+            -1669.3426961347209,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            131.1489714010574,
+            -1670.8426961347209,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            128.55089518970408,
+            -1672.3426961347209,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            125.95281897835076,
+            -1673.8426961347209,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            123.35474276699745,
+            -1675.3426961347209,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            120.75666655564413,
+            -1676.8426961347209,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            118.15859034429081,
+            -1678.3426961347209,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            115.5605141329375,
+            -1679.8426961347209,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            112.96243792158418,
+            -1681.3426961347209,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            110.36436171023087,
+            -1682.8426961347209,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            107.76628549887755,
+            -1684.3426961347209,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            105.16820928752423,
+            -1685.8426961347209,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            102.57013307617092,
+            -1687.3426961347209,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            99.9720568648176,
+            -1688.8426961347209,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            68.0,
+            -1696.0,
+            -213.853
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-9_23-58-35_553160358/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-9_23-58-35_553160358/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..97768ff27a4079977dfc5d24b54d802ced97e94b
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-9_23-58-35_553160358/pose.jsonl
@@ -0,0 +1,444 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            223.71385603081006,
+            -1673.0406457820798,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            223.71385603081006,
+            -1670.0406457820798,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            223.71385603081006,
+            -1667.0406457820798,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            223.71385603081006,
+            -1664.0406457820798,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            223.71385603081006,
+            -1661.0406457820798,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            223.71385603081006,
+            -1658.0406457820798,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            223.71385603081006,
+            -1655.0406457820798,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            223.71385603081006,
+            -1652.0406457820798,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            223.71385603081006,
+            -1649.0406457820798,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            223.71385603081006,
+            -1646.0406457820798,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            223.71385603081006,
+            -1643.0406457820798,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            223.71385603081006,
+            -1640.0406457820798,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            223.71385603081006,
+            -1637.0406457820798,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            223.71385603081006,
+            -1634.0406457820798,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            223.71385603081006,
+            -1631.0406457820798,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            223.71385603081006,
+            -1628.0406457820798,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            223.71385603081006,
+            -1625.0406457820798,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            223.71385603081006,
+            -1622.0406457820798,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            223.71385603081006,
+            -1619.0406457820798,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            223.71385603081006,
+            -1616.0406457820798,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            223.71385603081006,
+            -1613.0406457820798,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            223.71385603081006,
+            -1610.0406457820798,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            223.71385603081006,
+            -1607.0406457820798,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            223.71385603081006,
+            -1604.0406457820798,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            223.71385603081006,
+            -1601.0406457820798,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            223.71385603081006,
+            -1601.0406457820798,
+            -211.9525511843355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            223.71385603081006,
+            -1601.0406457820798,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982989
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            226.31193224216338,
+            -1599.5406457820798,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            228.9100084535167,
+            -1598.0406457820798,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            228.9100084535167,
+            -1598.0406457820798,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            230.4100084535167,
+            -1595.4425695707264,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            231.9100084535167,
+            -1592.844493359373,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            233.4100084535167,
+            -1590.2464171480196,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            240.0,
+            -1560.0,
+            -206.55
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-9_23-58-54_1635550270/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-9_23-58-54_1635550270/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..38f3fc8d8ed9ba7feaa2d988209cf696c9fdc666
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-9_23-58-54_1635550270/pose.jsonl
@@ -0,0 +1,431 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            138.7289696124157,
+            -1599.6576864800359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            141.7289696124157,
+            -1599.6576864800359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            144.7289696124157,
+            -1599.6576864800359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            147.7289696124157,
+            -1599.6576864800359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            150.7289696124157,
+            -1599.6576864800359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            153.7289696124157,
+            -1599.6576864800359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            156.7289696124157,
+            -1599.6576864800359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            159.7289696124157,
+            -1599.6576864800359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            162.7289696124157,
+            -1599.6576864800359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            165.7289696124157,
+            -1599.6576864800359,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            165.7289696124157,
+            -1599.6576864800359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            168.32704582376903,
+            -1598.1576864800359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            170.92512203512234,
+            -1596.6576864800359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            173.52319824647566,
+            -1595.1576864800359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            176.12127445782897,
+            -1593.6576864800359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            178.7193506691823,
+            -1592.1576864800359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            181.3174268805356,
+            -1590.6576864800359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            183.91550309188892,
+            -1589.1576864800359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            186.51357930324224,
+            -1587.6576864800359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            189.11165551459555,
+            -1586.1576864800359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            191.70973172594887,
+            -1584.6576864800359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            194.3078079373022,
+            -1583.1576864800359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            196.9058841486555,
+            -1581.6576864800359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            199.50396036000882,
+            -1580.1576864800359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            202.10203657136213,
+            -1578.6576864800359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            204.70011278271545,
+            -1577.1576864800359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            207.29818899406877,
+            -1575.6576864800359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            209.89626520542208,
+            -1574.1576864800359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            212.4943414167754,
+            -1572.6576864800359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            215.09241762812871,
+            -1571.1576864800359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            217.69049383948203,
+            -1569.6576864800359,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            220.28857005083535,
+            -1568.1576864800359,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            240.0,
+            -1560.0,
+            -206.55
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-9_23-59-54_864101839/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-9_23-59-54_864101839/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2d5c83f1362ab537bf6ffc8d91161691223ef4bc
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-9_23-59-54_864101839/pose.jsonl
@@ -0,0 +1,457 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            43.317836023000595,
+            -1823.254124733272,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            46.317836023000595,
+            -1823.254124733272,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            49.317836023000595,
+            -1823.254124733272,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            52.317836023000595,
+            -1823.254124733272,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            55.317836023000595,
+            -1823.254124733272,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            58.317836023000595,
+            -1823.254124733272,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            61.317836023000595,
+            -1823.254124733272,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            64.3178360230006,
+            -1823.254124733272,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            67.3178360230006,
+            -1823.254124733272,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            67.3178360230006,
+            -1823.254124733272,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            69.91591223435391,
+            -1821.754124733272,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            72.51398844570723,
+            -1820.254124733272,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            75.11206465706054,
+            -1818.754124733272,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            77.71014086841386,
+            -1817.254124733272,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            80.30821707976718,
+            -1815.754124733272,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            82.90629329112049,
+            -1814.254124733272,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            85.5043695024738,
+            -1812.754124733272,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            88.10244571382712,
+            -1811.254124733272,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            90.70052192518044,
+            -1809.754124733272,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            93.29859813653376,
+            -1808.254124733272,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            95.89667434788707,
+            -1806.754124733272,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            98.49475055924039,
+            -1805.254124733272,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            101.0928267705937,
+            -1803.754124733272,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            103.69090298194702,
+            -1802.254124733272,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            106.28897919330034,
+            -1800.754124733272,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            108.88705540465365,
+            -1799.254124733272,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            111.48513161600697,
+            -1797.754124733272,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            114.08320782736028,
+            -1796.254124733272,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            116.6812840387136,
+            -1794.754124733272,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            119.27936025006692,
+            -1793.254124733272,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            121.87743646142023,
+            -1791.754124733272,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            124.47551267277355,
+            -1790.254124733272,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            127.07358888412686,
+            -1788.754124733272,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            129.6716650954802,
+            -1787.254124733272,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            156.0,
+            -1776.0,
+            -214.057
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_average/2025-1-9_23-9-45_1473144500/pose.jsonl b/Image/env_airsim_26/astar_data/high_average/2025-1-9_23-9-45_1473144500/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d8b0b68001a542727b0c6a962e13a510e1385976
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_average/2025-1-9_23-9-45_1473144500/pose.jsonl
@@ -0,0 +1,327 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            33.136044186245286,
+            -1315.2922965236298,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            31.636044186245286,
+            -1312.6942203122765,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            30.136044186245286,
+            -1310.096144100923,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            28.636044186245286,
+            -1307.4980678895697,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            27.136044186245286,
+            -1304.8999916782163,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            25.636044186245286,
+            -1302.301915466863,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            24.136044186245286,
+            -1299.7038392555096,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            22.636044186245286,
+            -1297.1057630441562,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            21.136044186245286,
+            -1294.5076868328028,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            19.636044186245286,
+            -1291.9096106214495,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            18.136044186245286,
+            -1289.311534410096,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            16.636044186245286,
+            -1286.7134581987427,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            15.136044186245286,
+            -1284.1153819873894,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            13.636044186245286,
+            -1281.517305776036,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            12.136044186245286,
+            -1278.9192295646826,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            10.636044186245286,
+            -1276.3211533533292,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            9.136044186245286,
+            -1273.7230771419759,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            7.636044186245287,
+            -1271.1250009306225,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            6.136044186245288,
+            -1268.5269247192691,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            4.636044186245289,
+            -1265.9288485079157,
+            -211.9525511843355
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            4.636044186245289,
+            -1265.9288485079157,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            2.0379679748919726,
+            -1264.4288485079157,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -0.5601082364613434,
+            -1262.9288485079157,
+            -211.9525511843355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -3.1581844478146595,
+            -1261.4288485079157,
+            -211.9525511843355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -24.0,
+            -1232.0,
+            -213.853
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}