diff --git a/__pycache__/granny.cpython-39.pyc b/__pycache__/granny.cpython-39.pyc
new file mode 100644
index 0000000..40b0987
Binary files /dev/null and b/__pycache__/granny.cpython-39.pyc differ
diff --git a/__pycache__/pool.cpython-39.pyc b/__pycache__/pool.cpython-39.pyc
new file mode 100644
index 0000000..d641363
Binary files /dev/null and b/__pycache__/pool.cpython-39.pyc differ
diff --git a/__pycache__/trash.cpython-39.pyc b/__pycache__/trash.cpython-39.pyc
index fb38fe9..dcaeda9 100644
Binary files a/__pycache__/trash.cpython-39.pyc and b/__pycache__/trash.cpython-39.pyc differ
diff --git a/astar.py b/astar.py
new file mode 100644
index 0000000..8fb7443
--- /dev/null
+++ b/astar.py
@@ -0,0 +1,150 @@
+from truck import Truck
+
+class Node():
+    def __init__(self, parent=None, position=None):
+        self.parent = parent
+        self.position = position
+
+        self.g = 0
+        self.h = 0
+        self.f = 0
+
+    def __eq__(self, other):
+        return self.position == other.position
+
+
+def astar(maze, start, end):
+    start_node = Node(position=start)
+    end_node = Node(position=end)
+    x=0
+    open_list = []
+    closed_list = []
+
+    open_list.append(start_node)
+
+    while len(open_list) > 0:
+
+        current_node = open_list[0]
+        current_index = 0
+        for index, item in enumerate(open_list):
+            if item.f < current_node.f:
+                current_node = item
+                current_index = index
+
+        open_list.pop(current_index)
+        closed_list.append(current_node)
+
+        if current_node == end_node:
+            path = []
+
+            current = current_node
+            while current is not None:
+                path.append(current.position)
+                if (maze[current.position[0]][current.position[1]] == 1):
+                    x = x + 1
+                if (maze[current.position[0]][current.position[1]] == 2):
+                    x = x + 3
+                if (maze[current.position[0]][current.position[1]] == 6):
+                    x = x + 20
+                if (maze[current.position[0]][current.position[1]] == 7):
+                    x = x + 5
+                if (maze[current.position[0]][current.position[1]] == 8):
+                    x = x + 1
+
+                current = current.parent
+            return path[::-1]
+            #return x
+
+        children = []
+        for new_position in [(0, -1), (0, 1), (-1, 0), (1, 0)]:
+
+            node_position = (
+                current_node.position[0] + new_position[0], current_node.position[1] + new_position[1])
+
+            if node_position[0] > (len(maze) - 1) or node_position[0] < 0 or node_position[1] > (len(maze[len(maze)-1]) - 1) or node_position[1] < 0:
+                continue
+
+            if Node(current_node, node_position) in closed_list:
+                continue
+
+            if maze[node_position[0]][node_position[1]] == 9:
+                continue
+
+            new_node = Node(current_node, node_position)
+
+            children.append(new_node)
+
+        for child in children:
+
+            for closed_child in closed_list:
+                if child == closed_child:
+                    continue
+
+            if(maze[child.position[0]][child.position[1]]==1):
+                child.g = 1
+            if(maze[child.position[0]][child.position[1]]==2):
+                child.g = 3
+            if(maze[child.position[0]][child.position[1]]==6):
+                child.g = 20
+            if(maze[child.position[0]][child.position[1]]==7):
+                child.g = 5
+            if(maze[child.position[0]][child.position[1]]==8):
+                child.g = 1
+            child.h = ((child.position[0] - end_node.position[0]) **
+                       2) + ((child.position[1] - end_node.position[1]) ** 2)
+            child.f = child.g + child.h
+
+            for open_node in open_list:
+                if child == open_node and child.g > open_node.g:
+                    continue
+
+            open_list.append(child)
+
+
+def main():
+
+    maze = [[9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9],
+            [9, 9, 9, 9, 9, 1, 1, 9, 9, 9, 1, 1, 1, 9, 9, 9, 1,
+                1, 9, 9, 1, 1, 1, 9, 9, 1, 1, 9, 1, 1, 9, 9],
+            [9, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 9, 1, 1,
+                8, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 9],
+            [9, 1, 1, 1, 2, 1, 1, 6, 1, 1, 1, 1, 1, 1, 1, 1, 9,
+             1, 0, 1, 7, 1, 1, 1, 9, 1, 1, 1, 1, 1, 1, 9],
+            [9, 1, 1, 1, 1, 9, 9, 9, 9, 9, 9, 1, 1, 1, 1, 9, 9,
+             9, 9, 9, 1, 1, 1, 1, 1, 1, 1, 1, 1, 9, 9, 9],
+            [9, 9, 9, 1, 1, 1, 1, 9, 1, 1, 1, 1, 1, 1, 1, 2, 1,
+             1, 1, 1, 9, 6, 6, 9, 1, 1, 2, 1, 1, 9, 1, 9],
+            [9, 1, 1, 1, 1, 1, 1, 9, 1, 1, 1, 1, 1, 1, 1, 1, 1,
+             1, 1, 9, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 9],
+            [9, 1, 1, 1, 9, 9, 9, 9, 9, 1, 1, 1, 1, 1, 9, 9, 9,
+             9, 9, 9, 9, 1, 1, 1, 1, 1, 1, 1, 1, 1, 9, 9],
+            [9, 1, 1, 1, 1, 1, 1, 9, 9, 9, 9, 9, 9, 1, 1, 1, 1,
+             1, 9, 1, 1, 1, 1, 1, 9, 1, 1, 1, 1, 1, 1, 9],
+            [9, 1, 1, 1, 1, 9, 1, 1, 1, 1, 1, 1, 9, 1, 1, 1, 9,
+             9, 9, 7, 6, 9, 9, 9, 9, 6, 2, 1, 9, 9, 9, 9],
+            [9, 1, 1, 1, 1, 1, 1, 9, 1, 1, 1, 1, 1, 1, 1, 1, 1,
+             1, 9, 1, 1, 1, 1, 1, 9, 1, 1, 1, 1, 1, 1, 9],
+            [9, 1, 1, 1, 9, 9, 9, 9, 9, 1, 1, 9, 9, 9, 1, 1, 9,
+             9, 9, 1, 1, 1, 1, 1, 9, 1, 1, 1, 1, 1, 1, 9],
+            [9, 1, 1, 1, 1, 1, 9, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
+             1, 1, 2, 1, 1, 9, 9, 1, 9, 1, 1, 7, 1, 1, 9],
+            [9, 1, 1, 1, 1, 1, 0, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1,
+             1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 9],
+            [9, 1, 1, 9, 1, 1, 9, 9, 9, 1, 9, 1, 1, 1, 9, 9, 9,
+             1, 1, 1, 1, 1, 9, 1, 1, 1, 9, 9, 1, 1, 1, 9],
+            [9, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 9, 1, 1, 2, 1,
+             1, 1, 1, 9, 9, 9, 9, 1, 1, 1, 2, 1, 1, 9, 9],
+            [9, 1, 1, 1, 9, 9, 9, 9, 1, 1, 1, 1, 1, 1, 9, 1, 1,
+             1, 9, 1, 1, 9, 9, 1, 1, 1, 1, 1, 1, 1, 1, 9],
+            [9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9]]
+
+    start = (13, 7)
+    end = (3, 18)
+
+    path = astar(maze, start, end)
+    print(path)
+    return path
+
+
+if __name__ == '__main__':
+    main()
diff --git a/granny.py b/granny.py
new file mode 100644
index 0000000..cdb77f4
--- /dev/null
+++ b/granny.py
@@ -0,0 +1,14 @@
+class Granny:
+    def __init__(self, position, grid_size):
+        self.pos = position
+        self.size = grid_size
+def create_granny(grid_size):
+    grannies = []
+    with open(file='houses.txt', mode='r', encoding='utf-8') as file:
+        for l_index, line in enumerate(file):
+            for h_index, if_house in enumerate(line):
+                if if_house == '3':
+                    granny = Granny(
+                        [h_index*grid_size, l_index*grid_size], grid_size)
+                    grannies.append(granny)
+    return grannies
\ No newline at end of file
diff --git a/houses.txt b/houses.txt
index 1f4bcbf..0b5a875 100644
--- a/houses.txt
+++ b/houses.txt
@@ -1,16 +1,16 @@
 11111111111111111111111111111111
-10100011110000111100010000011101
-10100000000000011000000111000001
+10100011110000111100010003011101
+10100020000000011002000111000001
 10111111110001011010001110011001
-10000000000001000010000100000001
-11111111110001000010000000001111
-11110000000111000100001111111111
-10000000000000010001100000000001
-10001110000011100010000000000001
+10000300002001000010000100000001
+11111111110001300010000002001111
+11110320000111200100001111111111
+10000000020000010301100300000001
+10001110000011120010200200000001
 11111011110111001010111111111011
-10001000001000011010000001110001
-10000010000001001000111100000011
-10011111111001000010011001111011
-10000110001000000001110000000011
-10010000100010111100000001100001
+10001030001000011010000001110001
+10200010000001001000111100200011
+10011111111001020010011001111011
+10000112001000000001110000000011
+10012000130010111100200001100001
 11111111111111111111111111111111
\ No newline at end of file
diff --git a/img/granny.png b/img/granny.png
new file mode 100644
index 0000000..64dd1ee
Binary files /dev/null and b/img/granny.png differ
diff --git a/main.py b/main.py
index d7ffd43..b80aef1 100644
--- a/main.py
+++ b/main.py
@@ -18,7 +18,8 @@ from truck import Truck
 from trash import Trash
 from TSP import tsp, tspmove
 from bfs import bfs, distance
-
+from pool import create_pools
+from granny import create_granny
 
 model = load_model("model.h5")
 
@@ -70,10 +71,14 @@ def game_keys(truck, multi_trash, houses, auto=False):
                 break
 
 
-def update_images(gameDisplay, truck, multi_trash, houses):
+def update_images(gameDisplay, truck, multi_trash, houses,pools,grannies):
     gameDisplay.fill(gray)
     for house in houses:
         gameDisplay.blit(pygame.image.load('./img/house.png'), house.pos)
+    for pool in pools:
+        gameDisplay.blit(pygame.image.load('./img/wet.png'), pool.pos)
+    for granny in grannies:
+        gameDisplay.blit(pygame.image.load('./img/granny.png'), granny.pos)
     for trash in multi_trash:
         gameDisplay.blit(pygame.image.load('./img/trash.png'), trash.pos)
     gameDisplay.blit(truck.image, truck.pos)
@@ -93,6 +98,8 @@ def game_loop():
 
     truck = Truck(game_w, game_h, grid_size)
     houses = create_houses(grid_size)
+    pools = create_pools(grid_size)
+    grannies = create_granny(grid_size)
 
     for _ in range(7):
         trash = Trash(game_w, game_h, grid_size)
@@ -118,7 +125,9 @@ def game_loop():
                 if (event.key == pygame.K_k):
                     print(":>")
                     trash = multi_trash[0]
-                    dis_dump = distance(truck.pos,[80,80])
+                    dis = [120,120]
+                    print(truck.pos)
+                    dis_dump = distance(dis,truck.pos)
                     dis_trash = distance(truck.pos, trash.pos)
                     print(dis_dump, dis_trash, truck.mass, truck.space, trash.mass, trash.space)
                     decision =  tree.making_decision(decision_tree,
@@ -144,7 +153,7 @@ def game_loop():
                                 pygame.KEYDOWN, {'key': action}))
 
                             game_keys(truck, multi_trash, houses, True)
-                            update_images(gameDisplay, truck, multi_trash, houses)
+                            update_images(gameDisplay, truck, multi_trash, houses,pools,grannies)
                     else:
                         truck.space=0
                         truck.mass=0
@@ -165,7 +174,7 @@ def game_loop():
                             pygame.KEYDOWN, {'key': action}))
 
                         game_keys(truck, multi_trash, houses, True)
-                        update_images(gameDisplay, truck, multi_trash, houses)
+                        update_images(gameDisplay, truck, multi_trash, houses,pools,grannies)
                 if (event.key == pygame.K_t):
                     solution = tsp(multi_trash, truck)
                     actions = tspmove(solution, truck, multi_trash)
@@ -184,7 +193,7 @@ def game_loop():
                                 pygame.KEYDOWN, {'key': action}))
 
                             game_keys(truck, multi_trash, houses, True)
-                            update_images(gameDisplay, truck, multi_trash, houses)
+                            update_images(gameDisplay, truck, multi_trash, houses,pools,grannies)
                     truck.direction = [1, 0]
                     truck.dir_control = 0
                     truck.image = pygame.image.load('./img/truck.png')
@@ -196,7 +205,7 @@ def game_loop():
                 else:
                     pygame.event.post(event)
                     game_keys(truck, multi_trash, houses)
-        update_images(gameDisplay, truck, multi_trash, houses)
+        update_images(gameDisplay, truck, multi_trash, houses,pools,grannies)
         clock.tick(60)
 
 
diff --git a/pool.py b/pool.py
new file mode 100644
index 0000000..0cd1b64
--- /dev/null
+++ b/pool.py
@@ -0,0 +1,14 @@
+class Pool:
+    def __init__(self, position, grid_size):
+        self.pos = position
+        self.size = grid_size
+def create_pools(grid_size):
+    pools = []
+    with open(file='houses.txt', mode='r', encoding='utf-8') as file:
+        for l_index, line in enumerate(file):
+            for h_index, if_house in enumerate(line):
+                if if_house == '2':
+                    pool = Pool(
+                        [h_index*grid_size, l_index*grid_size], grid_size)
+                    pools.append(pool)
+    return pools
\ No newline at end of file
diff --git a/trash.py b/trash.py
index 7370c45..dd243ce 100644
--- a/trash.py
+++ b/trash.py
@@ -37,8 +37,8 @@ class Trash:
         self.size = grid_size
         self.content = draw_trash(filenames)[0]
         self.names = draw_trash(filenames)[1]
-        self.mass = random.randint(0, 25)
-        self.space = random.randint(0, 25)
+        self.mass = random.randint(1, 25)
+        self.space = random.randint(1, 25)
 
     def new_pos(self, truck_pos, houses, multi):
         self.trash_content, self.trash_names = draw_trash(filenames)