diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062254.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062254.png
new file mode 100644
index 0000000000000000000000000000000000000000..de221bb878da81c923155049ffd70d39ceb2cb1b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062254.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88c506b2b3860cfc087b79405bffd1d2ad89609768ee56504b703845aa3a6a9c
+size 778114
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062256.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062256.png
new file mode 100644
index 0000000000000000000000000000000000000000..0fcc6a626a6deba6c68f07fbfae269b9b2ee885b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062256.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fdb13fbd5c7e20003a6176d11b0ce6cd38de7952ee65460994b99ef318a8215
+size 789359
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062258.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062258.png
new file mode 100644
index 0000000000000000000000000000000000000000..07ee0d6e398f34a7092aa67c39ccd8aa02d27a2b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062258.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c39b6534c45370a30f98b3940332d211a0e6affeee6ebfbcd215a8da8d815ba
+size 772498
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062300.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062300.png
new file mode 100644
index 0000000000000000000000000000000000000000..a05e5a8ea5272c320edf8cee92378417f18b839a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062300.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ef7745711fe943a7b12d936e94df2c5affee15d7a4f3b08e10e12fc20f417e2
+size 764784
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062303.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062303.png
new file mode 100644
index 0000000000000000000000000000000000000000..314b4e8d67edaab895f8ca09781c6e2ded52ccbb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062303.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d35c63726451387aea57810367bd72dc99722b0da96adce43df2a0f548b3f95e
+size 736891
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062305.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062305.png
new file mode 100644
index 0000000000000000000000000000000000000000..94200fd0637efb6d20196ebc7ace624e57c7ec86
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062305.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d8c8eba170486f894be93096271d4d2f00f97485a54024760a7c4ffdcd04d12
+size 732883
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062307.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062307.png
new file mode 100644
index 0000000000000000000000000000000000000000..3d39e2065010519ffb76301ac939d2163d2fa2c2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062307.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a51c2eedf165c7ed8fab4bfffe7f60f153662c3ad0c374178ef9b76e4c0a268c
+size 731948
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062309.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062309.png
new file mode 100644
index 0000000000000000000000000000000000000000..120db9ce27841d6bb0d24695427df0f6bc34059d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062309.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2c87fe0e79d41ae0cb0820cee99328b7e49225feb6a2df4aab86008ade2e488
+size 723884
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062311.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062311.png
new file mode 100644
index 0000000000000000000000000000000000000000..a40f446a54bd2d80a81676da21f09105b05a06b5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062311.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:311edc040e59b21b9b30a1c84cc763d2de01e6f570b172f4d0e5c84c52ed3251
+size 712690
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062313.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062313.png
new file mode 100644
index 0000000000000000000000000000000000000000..e1f5f8088769afc61da930147461d76f19214fd4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062313.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f32fe471547f1dd306e00250e840901dafdd4317a13369c000dc7abd8171da6d
+size 708664
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062316.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062316.png
new file mode 100644
index 0000000000000000000000000000000000000000..e5859411b8f1fe8bdc297522f8568d304b1a85e1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062316.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfd0e5191dcc723dfcae04340235163acf109748f1a6ae8d7fad9a124c150ecc
+size 695366
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062318.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062318.png
new file mode 100644
index 0000000000000000000000000000000000000000..2d8feec7317dace7927196871cea36e33bb1309e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062318.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fad6d55c66bfaef629f6f5d686835b3c3f304276e52fbce33acc71645198288d
+size 641467
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062320.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062320.png
new file mode 100644
index 0000000000000000000000000000000000000000..e00c260fb792ba9d97174f9c652eacc244531d0e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062320.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db1ddd1495066235c5674fa36b830991bbb3aae856ea68591ec1b8fd2e367ae5
+size 655837
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062322.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062322.png
new file mode 100644
index 0000000000000000000000000000000000000000..8727fbfa2be7e63e9f87488926c9153fb6524573
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062322.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12337c0d2679334900d34a4bf033b0a6a0b50a34b5d0897e7c01e659d9c629b8
+size 635460
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062324.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062324.png
new file mode 100644
index 0000000000000000000000000000000000000000..e762886d8fb2ba15ee3da4ae2e49b317c76488c6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062324.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55f25809d8833947b4173fde1cc7f2e11032d0802b05861a98033bc324e23f0c
+size 650824
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062326.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062326.png
new file mode 100644
index 0000000000000000000000000000000000000000..6891946fa3a563db10cf1dc38744c05ed7a631a4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062326.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecd2aef11069c87ab376a68604bd9d7902fa25111a8752aafb22993bbbcb2d5e
+size 742836
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062329.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062329.png
new file mode 100644
index 0000000000000000000000000000000000000000..5850fd97e021207238ad56564bef018d1dcffba9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062329.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08866d5a6526c52b9db8121556de6f658955caf0eb9e8db7eb467bce856d51b9
+size 765762
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062331.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062331.png
new file mode 100644
index 0000000000000000000000000000000000000000..842df9a194ef2a62265e4106aa2bea2fd9cc4f2b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062331.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e650dac4fac15710c97c0169484f6cf43cca5d463a8cbb4c8451c2e9eed0714
+size 771725
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062335.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062335.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc546fa29e00d423f5ad8d3e0ed9dbf2e03b4997
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062335.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:838471dcc1d8f6e2d5020fcbfeaeabf5d0dea3b94afdf3289e2b191cf69c22f0
+size 769318
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062337.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062337.png
new file mode 100644
index 0000000000000000000000000000000000000000..8273f44de4d91439ea651e832c78a5443d0d6baa
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062337.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c618965f10fc7f364489c38e81a3e92f86b9c2efd4114957aa1ad9a4a53fde9
+size 780847
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062340.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062340.png
new file mode 100644
index 0000000000000000000000000000000000000000..10a80dd9cf0542611cb284a53ceac5f5c242b95b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062340.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52fd3857b9e56611607cb9ecc1cacd8b93a6d02000bff6c800dd310f3aaed72f
+size 786188
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062342.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062342.png
new file mode 100644
index 0000000000000000000000000000000000000000..49406c2095f30d18e7b0663b79588873bf9268d6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062342.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21a0d522a8348fe0d9a323bb68297be927724ccfb45e95e4018c91e9c0f10c45
+size 785315
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062344.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062344.png
new file mode 100644
index 0000000000000000000000000000000000000000..c09aeaf87c07160994c19c0d94a555d6868ccd3b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062344.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ab058842cb9a85ee8275bdc6bdd8211f13c39477888462dfc424b7b2b703896
+size 785817
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062346.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062346.png
new file mode 100644
index 0000000000000000000000000000000000000000..b08a0cb8dfaceddbf4cca1eb1d36dc841ddea775
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062346.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7033bbf3a985954ee3da00f25292c1ce78a2957abff522604073c0168bb1cfc7
+size 788626
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062349.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062349.png
new file mode 100644
index 0000000000000000000000000000000000000000..41812cf56436b252502492a28659395f67b9ca20
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062349.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2c6b8261dcac1bdb75ce94a547c71b6d70ef186b876d24262c3d46af50c4a0e
+size 787791
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062351.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062351.png
new file mode 100644
index 0000000000000000000000000000000000000000..c67e6bccaafbb00c33366a524dc09ecbcc3493a7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062351.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70b9c199a4b36a0f829354bbae73083b732ba7265681e334a9369db77fcded92
+size 788825
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062353.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062353.png
new file mode 100644
index 0000000000000000000000000000000000000000..f3b77f67b0edcfcecba709426ff5f53862cb407a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062353.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7347cb169971888bd17926c31aa7da0620baab87e296d2aea17182e344cfe392
+size 789512
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062356.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062356.png
new file mode 100644
index 0000000000000000000000000000000000000000..b32659f8ef987ccd28e4f69d819f800a948543cc
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062356.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c24054e83910413b6243941dcbe19910cd35135fa511e721a259203073309ff5
+size 781100
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062358.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062358.png
new file mode 100644
index 0000000000000000000000000000000000000000..ac850ea4baebccf5b12e3f5baa99bda089b4e962
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062358.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:466ad386eb2d7ad868b1d75eb01cada4c2118f92bf0f7739be65526c98b13803
+size 780186
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062400.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062400.png
new file mode 100644
index 0000000000000000000000000000000000000000..6a7a9aad859cf2c93d11bf926c7a7e1aa4d42c6b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062400.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81b34b2025b7decb0fc8052a510323a0083afe44a96356e4c944e21320e0ee3b
+size 778646
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062402.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062402.png
new file mode 100644
index 0000000000000000000000000000000000000000..b2f8409bb2cd30c5cb3e1ad55ea503fa0b32bd7f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062402.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04e234fa0598d66b30e319b7976ca413df6fc78556e6e849b6294cbc15fab348
+size 772882
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062405.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062405.png
new file mode 100644
index 0000000000000000000000000000000000000000..172044ecfe2a6fe796556cbcacd587c20f9135f6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062405.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b37ee70704c2a67fff9bb3ac169897989548c0c5b84fb53422af368c93a01ef7
+size 767505
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062407.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062407.png
new file mode 100644
index 0000000000000000000000000000000000000000..5d40c94831b57c57f52fe02ca541351740856e1f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062407.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aba7604e4543f1f2f5bab3253628eb1022a24d24dde4c6a512c8e1bcb63ea9bf
+size 761305
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062409.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062409.png
new file mode 100644
index 0000000000000000000000000000000000000000..66c3e6bf21fcec7e45bf46c616b9cdff418b8de4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062409.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef95ff672a444daa5d1bfee4b4f3f238ac3cc26f3b2326be6c61526f9ce5cebf
+size 760123
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062411.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062411.png
new file mode 100644
index 0000000000000000000000000000000000000000..c2195e89d7ee0382997aa918f11dd26a85cd7de1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062411.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d0ae15045b269247d324081ef2fa1e5a3aed7255a96c667280b596e042d4dc8
+size 752152
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062413.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062413.png
new file mode 100644
index 0000000000000000000000000000000000000000..31b6161626dac1aeb46b54093be54e8e6bb186aa
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062413.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbe1dd3768096ec73a150a9ae36d00fde005c7948122cd750a2d7f11ec5592e1
+size 737559
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062416.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062416.png
new file mode 100644
index 0000000000000000000000000000000000000000..a9727ded57f3685970ebad872d32f26d2a314fa7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062416.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:584c2a1b78e1c82f6c9a47104fde0f84e5441d9084549e593c164a2f7c463392
+size 718717
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062418.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062418.png
new file mode 100644
index 0000000000000000000000000000000000000000..19959bbe4e25aa992878b700d9495ecaaed0e7e4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062418.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36a09718209f76a8ff2c7a2a1382737ebffbb2dccc22b1b0cceb85deda202723
+size 686851
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062420.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062420.png
new file mode 100644
index 0000000000000000000000000000000000000000..fa478ac8eb3b88d7b4f08a86e7546b45672ff92e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062420.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1280a94f6ace5a36264f81117dc226110a482f06bbc1539607f6c3444b41342a
+size 688675
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062422.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062422.png
new file mode 100644
index 0000000000000000000000000000000000000000..f56c4122230f33b23eba2d6789b1d2834335187c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062422.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:769acada9ea0c96d2256df8def6f95893c8975b41a5370ef57189470dddcc2ec
+size 688262
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062424.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062424.png
new file mode 100644
index 0000000000000000000000000000000000000000..1f40f9ddee4f2259da92d53e8f79398f27e5d311
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062424.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6dad58c16e9ad93e5ce7dfaaa06f344c39b4aff2a569e183a3624139c8ea865b
+size 689445
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062426.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062426.png
new file mode 100644
index 0000000000000000000000000000000000000000..e334a5b84782f6ec59049a413d94a09ceaa8e92b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062426.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9256a29f8dda481c02f89aba30d5198707e23955c8df364cde7261df5c635e3d
+size 692323
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062429.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062429.png
new file mode 100644
index 0000000000000000000000000000000000000000..87350420b9350ccb49eb67792bdb9336a8eaeabf
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062429.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5a243fc6e2445775a9be15ea154a9b984383e234e6a285ac499afcb70337d3a
+size 693211
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062431.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062431.png
new file mode 100644
index 0000000000000000000000000000000000000000..c9f9c2ca3ba8fd77ee956eeaa1278423cb875e15
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062431.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60110394a7bf87d37fc32ceee12d1ec64bf43e17d9784371b9e51bde876e07e5
+size 691935
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062433.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062433.png
new file mode 100644
index 0000000000000000000000000000000000000000..1c0f88b7a88232530d4f1e4d98c2b9b6ddd2907a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062433.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52dcb14f2ecd253c67a635391691a0540cb3f2fca197cc395423ba3795a635f3
+size 688967
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062435.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062435.png
new file mode 100644
index 0000000000000000000000000000000000000000..8cd4973cfab4cf8c2ed2c800efafc5b68aff4902
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062435.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c75fea6ad7b18272def81f86d77ec31b5dd21f7f464663c3f7eb950bc085669a
+size 690183
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062437.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062437.png
new file mode 100644
index 0000000000000000000000000000000000000000..3b10af6061a97a2bfaed1315770ce5a8883b10c4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062437.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d2e0527d04f4816657b0c99a5a555e5aaaed114029a009d142e9af72858619b
+size 692370
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062439.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062439.png
new file mode 100644
index 0000000000000000000000000000000000000000..faa56d6a296ddd4ccb818c90919c6277f2636923
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062439.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d41affa33974b7e1e0af94fe1ac3b5830f4571f950942aff39ea397ee9072631
+size 682947
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062442.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062442.png
new file mode 100644
index 0000000000000000000000000000000000000000..8185a2c7492cb55b64665efb47c5d45dd8795953
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062442.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13931fab2704221fced87f6560f761380656f9939199e5a27519b334df7d4564
+size 675986
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062444.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062444.png
new file mode 100644
index 0000000000000000000000000000000000000000..824919c618793714e973c60de0dc0d30710ce1b2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062444.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d476c11a8cc7a2df0795a64d1baacf7969f04208311010b82512bef37f243e7
+size 656472
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062446.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062446.png
new file mode 100644
index 0000000000000000000000000000000000000000..1e9f2044a97ea103f5e32de842e50ebd52f09438
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062446.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1206438c44793b86ed16f859b9840f695c60a63feee79f5d14f5af3cddc80b18
+size 644368
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062448.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062448.png
new file mode 100644
index 0000000000000000000000000000000000000000..4a5c53457fa74a92af6e5413ef867942ad2696d7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062448.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a86f469be0a85af45cc6d508ee5dc89840fa59c332b2e47f22573754400629d9
+size 635304
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062450.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062450.png
new file mode 100644
index 0000000000000000000000000000000000000000..7a7251da1ae6471e68f2906b3ca1479335d09b9e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062450.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c41e7e39567640c20ad5bf7a5c897ce996f274d8593297ea54db5ba6934cee8e
+size 632771
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062452.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062452.png
new file mode 100644
index 0000000000000000000000000000000000000000..bd07f898dab16bce46be6a849894eb66466bb159
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062452.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7490a59af5825bbc6efb67a095d3be6c81108c31d607fdd240afface79e3a8ae
+size 667830
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062455.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062455.png
new file mode 100644
index 0000000000000000000000000000000000000000..d668d698cd769985cdad858bebcf623a50e0bc62
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062455.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14b88888e71b74a88558fc53f46c86716808ceef5b4775691ab625585c52e840
+size 659664
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062457.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062457.png
new file mode 100644
index 0000000000000000000000000000000000000000..adf6eef9182eb8850c89f49953ed2e98d92b0fb9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062457.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fdefb59f313a8e5f205c8d00327f0a4697a4dbd339d8950f359fa5421dc0d6ba
+size 657823
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062459.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062459.png
new file mode 100644
index 0000000000000000000000000000000000000000..8e99c7857d07abf6dbb6b9775e4f5ed7f84c7602
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062459.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:630ab39d4e6a666a33b8946c225e6913a6115a5aa882757ab4c421c5bb9fa45d
+size 706463
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062501.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062501.png
new file mode 100644
index 0000000000000000000000000000000000000000..8be9d365d8fcd538f851f325b298e36637d6b0ba
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062501.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f913bede5271ef96de0158a0e5413894ee37856460eda53714aef2ae89bfb07
+size 747852
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062503.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062503.png
new file mode 100644
index 0000000000000000000000000000000000000000..53d078622df0d70b45210df481758644c5018056
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062503.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff693e9b0a3477de27f983002f4d115a7240c80c72f051c9b078b55c4cd269b5
+size 754809
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062506.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062506.png
new file mode 100644
index 0000000000000000000000000000000000000000..355fdec0d16981de537b29d3391f99672840cd91
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062506.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dccf099c22971dd50fcc4aeb35ab8d4292255fdb22fca3d69ac753d64ed06c4e
+size 756263
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062508.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062508.png
new file mode 100644
index 0000000000000000000000000000000000000000..5837cbf83d297780a6c45d61204963b81a3e5bb0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-22-47_295525/20250119_062508.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fa54fe8cb2798e97c36238fbaf84ae4f8136758dd85e89eca419ca49ddefce9
+size 808166
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101255.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101255.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc2e9200143cbd1756fc93e697e9b419ad29dfd4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101255.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e45287936ed28068f6dac6c4e1b13058cea9e9001a949c002fbc370e86f3d3be
+size 659767
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101257.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101257.png
new file mode 100644
index 0000000000000000000000000000000000000000..a750dd15b8b2593d076313c58fef817a9186f82b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101257.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c61902ddb421591949db04d17aabf5a923eb4c96d0703abdc16dbcaf4646efe
+size 839785
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101259.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101259.png
new file mode 100644
index 0000000000000000000000000000000000000000..6b09d826c6dfc8d8e4b157fde6770c1f18384b48
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101259.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c66db4f369dbd34107b92965e8dad4ccf8e21d922cf2b727e38dfd1500f82f8
+size 803380
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101301.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101301.png
new file mode 100644
index 0000000000000000000000000000000000000000..a69e57120f61dcb6a980c9c58c29875b961ee49a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101301.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7208d205d2f5d3fe30b02d2df5ae9c114fe17131e610ed9074929d26c7a39dc5
+size 756100
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101303.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101303.png
new file mode 100644
index 0000000000000000000000000000000000000000..2facc75d355c4b6a5fe97d518d299223c744dec2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101303.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:724047970c231cceef9dd4d70a5c1ddc680d123ad9ad98840a064fe25ad73346
+size 757405
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101306.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101306.png
new file mode 100644
index 0000000000000000000000000000000000000000..8d18f39a8ae4c577cad5f775a4a0c4b43aa585b3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101306.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d1293d54b2b2e91db050eb5f55119268758eeb32a5fdb0a0235bce29aff7b24
+size 760642
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101308.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101308.png
new file mode 100644
index 0000000000000000000000000000000000000000..2e66b8e774136e2ff5f529a8b0980c45400d0c32
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101308.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad0415a54dfa676d66ca98c0f0f1a414eb5c3fbeec2f37007cf3440e168fb348
+size 756127
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101310.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101310.png
new file mode 100644
index 0000000000000000000000000000000000000000..32e35e8b8573d892e27b3219110c184b2e24dc8c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101310.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d7511134bb52526ab68f03a3d614b3929a473a83c1260e347c1c0af6c5a6913
+size 750325
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101312.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101312.png
new file mode 100644
index 0000000000000000000000000000000000000000..127ac442d73459f27f833d982c79f0d6684b4829
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101312.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4026b8105ab561d557a2fb898faeedb9003ebc65d2ab62c87ef4436a60447f66
+size 744424
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101314.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101314.png
new file mode 100644
index 0000000000000000000000000000000000000000..584d6a5d31e50cb4dd73e7a07c39b0745fd520a2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101314.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a0109353b4664481f4c689a25699e0f71f821a0c9c3d84b9b866d68688f51a4
+size 732695
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101317.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101317.png
new file mode 100644
index 0000000000000000000000000000000000000000..3d2bc9131f811a5ff827e6a80a9a06d77043ea83
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101317.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9839e9621fe85d6111f3b132ea5015894be32e079535d9141bb5972ef7d084ca
+size 738606
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101319.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101319.png
new file mode 100644
index 0000000000000000000000000000000000000000..86e76a8f1f7be73e651bd6f7e2100bae1d8b2376
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101319.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:336232d968fae7f28f8b32c728c73047cfefefa8f446b7f19e167d116892b6f0
+size 750179
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101321.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101321.png
new file mode 100644
index 0000000000000000000000000000000000000000..ce5c55f61fe2e74ceb5c33583dacea9651bb1d30
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101321.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b281375cf9d2ca5ab061f19bdfe2831012a39e61c961a5772eb76d10bf00b66
+size 750823
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101323.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101323.png
new file mode 100644
index 0000000000000000000000000000000000000000..02b9587c4ffadc460cf696a71f172f1840650ce8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101323.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf460911b3410a48270f8f82d1c253302cfa6f48db30111f0b5a0ee8542b123e
+size 756500
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101325.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101325.png
new file mode 100644
index 0000000000000000000000000000000000000000..6d487701952210b937c0cc7fce239c4878b54d25
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101325.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49acc48c12cf9844d224974734ac509e53f6114690d771781d8d99d55fdad57d
+size 758628
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101327.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101327.png
new file mode 100644
index 0000000000000000000000000000000000000000..1d95c917e3fa637c976ba95af408beb53b1c43ea
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101327.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34704ae1a7037077d2f3a93987289ee3120b316cdcc8c20a5d564cb41665e1d3
+size 755130
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101330.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101330.png
new file mode 100644
index 0000000000000000000000000000000000000000..32a303551496a45f9f9e0236903a93ae776a93ce
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101330.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78b53d6c2ad8151ff570181c05aa85d6ce70f67c3c6ea4a347b472a859be47a0
+size 772724
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101332.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101332.png
new file mode 100644
index 0000000000000000000000000000000000000000..7cc4649b10c4652b9b08f7688a622c2f0ea96a4f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101332.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58badff64e8631ba902b7991afe582517f1dc3945c0c3fc228a6dd42d7aab633
+size 761248
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101334.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101334.png
new file mode 100644
index 0000000000000000000000000000000000000000..8f235655727d11c0d2d298ff5eef3fde42fa3e38
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101334.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3617621ef2a662991d7220b116ca9a77be64b41ef714d0e1d1d2f8510e6f361
+size 743311
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101336.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101336.png
new file mode 100644
index 0000000000000000000000000000000000000000..d1ac4e4955b471b047fc689efe6cfcaf222acd33
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101336.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e80d6e48a2bcf6da6bc8b24aec1bd9e4bcd2fd5811956efd06f2483ab8a95ab
+size 753985
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101338.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101338.png
new file mode 100644
index 0000000000000000000000000000000000000000..376eeaa8e7c011649ca3c5041a5ad7df22001019
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101338.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82b009895f137bce2f0b46e40a5248834f1824b64bf56ab551d57ae477118233
+size 751441
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101340.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101340.png
new file mode 100644
index 0000000000000000000000000000000000000000..e10994df27f9d89fae57b1f6c125ce13c60bd432
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101340.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a174b9a219a9edd12975fe25343824340ca51f7233c00dc858d6f216a82d3fd1
+size 737391
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101342.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101342.png
new file mode 100644
index 0000000000000000000000000000000000000000..dc767fd92d13861d7252a99f15918f3172814915
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101342.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac6be063e89540e833cacd73b8b70b3c36629151815607477ac1211c5bd5b9c7
+size 723480
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101345.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101345.png
new file mode 100644
index 0000000000000000000000000000000000000000..9ef9b40985d5af8a63b954710aa4ba3607061c32
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101345.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69017e6031e3bdcaebfc86028646939c22e061b06a3ffd54cf74a1c6efb4e670
+size 732028
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101347.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101347.png
new file mode 100644
index 0000000000000000000000000000000000000000..cb25f5fd0c47cd370f2d7944fac2cbaf69eb03b6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101347.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9b631c93708f09c757a9dc40c2151ae1a68de5f2bafbf64dba46b20880c2eb2
+size 719865
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101349.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101349.png
new file mode 100644
index 0000000000000000000000000000000000000000..2c65a60903d2d21468bb7a081bd1b1ba4d2883e8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101349.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:615380fe58ba608f8bc91b1250592c221345e14fdadb92437d735594a668a022
+size 696107
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101351.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101351.png
new file mode 100644
index 0000000000000000000000000000000000000000..538e697c6f4622f4b250e003e9c61d4ae04dfdee
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101351.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc428845a78e38441a1d79b3ba8f6a55fb6a74304b924a81e8ae8b9d6fbc1064
+size 670373
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101353.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101353.png
new file mode 100644
index 0000000000000000000000000000000000000000..7fac647cdacba46f962f0c8e3a6ca2125e33d913
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101353.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f17f1fe3fa37e1523928414a1c70f5ce3584f3e4f32d2dd891dff4f8f9102ff9
+size 664294
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101355.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101355.png
new file mode 100644
index 0000000000000000000000000000000000000000..3b6de8bbc5a83dd7ae0c2a26373b78b5557e0a3a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101355.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c82e77343356715eec26b1e3704900dac557a7336c46da22969b07e3fd9f0932
+size 650753
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101357.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101357.png
new file mode 100644
index 0000000000000000000000000000000000000000..c22c2318a41375c602f143d82bc2a68a5e4bfa75
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101357.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a5cdc74c889c325b66df25360e63bd4152b7f6d4eb3bfd81e7fa8dc62b0fe90
+size 633381
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101359.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101359.png
new file mode 100644
index 0000000000000000000000000000000000000000..795eb70b850bd1b7a211ea8e60b2bd66e74c9aeb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101359.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42bf580a1900b91406ca6db3c9c108ee38d995f51940f972f7ca3faeebdc9768
+size 688728
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101401.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101401.png
new file mode 100644
index 0000000000000000000000000000000000000000..1d2e99fb422dbe32bd0eb69e4d5eb36be83cad13
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101401.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6de67d5b175fece8821a25141c091a3732d4e85b9f5c507249db601632e85744
+size 664938
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101404.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101404.png
new file mode 100644
index 0000000000000000000000000000000000000000..3a685c48815cab3d1d5948b449aa906ac1308c53
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101404.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9ebf01283591f24e12e3eac3bf6b7b9240c7e06b0ccae7417a0b8822bc73604
+size 678860
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101406.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101406.png
new file mode 100644
index 0000000000000000000000000000000000000000..e3b705d5b7aa8d7c0f2fa1504920b03d1ed874cf
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101406.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01cc0a3f507b14bbd5657f02db42a2a0207190433a5322e2304056eb2e009324
+size 687532
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101408.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101408.png
new file mode 100644
index 0000000000000000000000000000000000000000..ed7a2f8cb7ef8b6e4dbb5a0f033d006fcb3111b9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101408.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc3c98804120fc832121d08b6874605b6df5f83fd4b44692e3b35d73bd3ac540
+size 758671
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101410.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101410.png
new file mode 100644
index 0000000000000000000000000000000000000000..c00a12ec7a85c34aabef793bfc1b30931c3cba42
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101410.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fe528ac4ea429a70ff94727391fe8dd1c763edf22e370656b00f47b0efda845
+size 796695
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101412.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101412.png
new file mode 100644
index 0000000000000000000000000000000000000000..e380e1217f270cda4246bee12dfb2412060e3a27
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101412.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6044f755e55b7b9f6daf57c9c1cc93e571b3bf458fd2e9f7fe5d5cd67d72a408
+size 784343
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101415.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101415.png
new file mode 100644
index 0000000000000000000000000000000000000000..6e108ee4faa2db4d5804aa631ae5c7f87913045e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101415.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abd2f88c0412207dfed2056339f741198ae436bcf88eee14daa1388ea9e4137b
+size 774712
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101417.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101417.png
new file mode 100644
index 0000000000000000000000000000000000000000..a983a50b063fa5875e82876c9990aebeed28b9bf
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101417.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8517fe2897b219e905431ced4590480958a5cdbb01feb74849729754632ba7e4
+size 790688
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101419.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101419.png
new file mode 100644
index 0000000000000000000000000000000000000000..b89d38ac82b583a0093e28ff47281ea9f57132a4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101419.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c8b4a06a54679f34d8967d1b61c20b3ab9780955f5c4fedc1167b31e3ada887
+size 770976
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101421.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101421.png
new file mode 100644
index 0000000000000000000000000000000000000000..1d1bcf301ac0f118b842c7460e2b43835092a392
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101421.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c47007c4bdc69cc6c634ada25a3b856dfd8c7abf04e2bad43bc74b9d8fe075e2
+size 772719
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101423.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101423.png
new file mode 100644
index 0000000000000000000000000000000000000000..b97bcab079e032277635e137c4c49e59b6f46b7f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101423.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:827dda3926bc7ff71051fd7cd086031c38b67f8eb08d1d6a2df8e5b675f9c13f
+size 771951
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101426.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101426.png
new file mode 100644
index 0000000000000000000000000000000000000000..0b417d1c21e0bee2825e77b3a15ef71ee4939964
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101426.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5123b93c17404955b38b94ef5d266b78b205c33c0b92bf58e30d11ab6923a9bb
+size 767301
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101428.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101428.png
new file mode 100644
index 0000000000000000000000000000000000000000..98c565a62f510ca11b6ebc2f4fc789b099aad576
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101428.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9581028f0bdc74a8aba0f99309b92d27098be675c9cb5e080dfab8dad8bee637
+size 754543
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101430.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101430.png
new file mode 100644
index 0000000000000000000000000000000000000000..55b4ee682ef9eb2c8b0e7f87b162d99695674a68
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101430.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45a7175b927f290274971f0f4b1fbdbbe865573d51feb2daaeca63277ab2f981
+size 754931
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101432.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101432.png
new file mode 100644
index 0000000000000000000000000000000000000000..07532168aad80136384a3e185c4e608343132809
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101432.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba3649a51664968c1cc0c00834a40db6b9f1beceeb98bbd3c265e5bd33a9f043
+size 759622
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101435.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101435.png
new file mode 100644
index 0000000000000000000000000000000000000000..0ba57f9d9f666d913caae06059182564fbd95802
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101435.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfa01a8ea36e08644f7cd30b279ff9c391d297ac5b82e2013ef4c1ac5655b5ab
+size 759219
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101437.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101437.png
new file mode 100644
index 0000000000000000000000000000000000000000..80dfa32bcfd4f9d752b7013e3d031ff182dec6c6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101437.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e0b9709e9280577cd9adec002e5b7811b113042d63ee09f2f6937e151a6ee20
+size 742684
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101439.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101439.png
new file mode 100644
index 0000000000000000000000000000000000000000..da1b1fe593062e558c938626eaeeb086eba11278
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101439.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:154547b5e364f58310af82241efb77a5ea96cd3b9f1114d6ffa3a4e4e745981a
+size 702362
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101441.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101441.png
new file mode 100644
index 0000000000000000000000000000000000000000..79ffe2546bdcb07ee74b0ed207450277b1d9cf69
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101441.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8aa4369835a88934de9fb93af9a15bc93d96d0655a5c73c1675654251f45214
+size 695740
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101443.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101443.png
new file mode 100644
index 0000000000000000000000000000000000000000..8e0bb5002d82a9e7ec7f63c6fa4743fb79e2d2b2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101443.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3907584ae7335dbd5aae3eb9a1a2b724c39811d5bfd90df36b6c668a3c36edf0
+size 688584
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101445.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101445.png
new file mode 100644
index 0000000000000000000000000000000000000000..571fd1c93df23cc820efe2484197286512acb049
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101445.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1db2829ffd302138c8b19f4afedefaf7514af0058fb3570d6ffe9d28a11b97a5
+size 690775
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101448.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101448.png
new file mode 100644
index 0000000000000000000000000000000000000000..bceee5da756797ad0f9f9c5dee48e48de81a282c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101448.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0fb3a8bbefb5ddf2b7d740d000188c649785dbdc054ccc257bb08b5670095087
+size 683783
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101450.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101450.png
new file mode 100644
index 0000000000000000000000000000000000000000..12b90b03a78e65617c614d1e18765392224f7e83
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101450.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bd734343ed2e693c198ef82f2b871ea8b8346aa1e0132a024a2cf08b1fe11e7
+size 681214
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101452.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101452.png
new file mode 100644
index 0000000000000000000000000000000000000000..4c21d17f0754ab6956f2b27ff70e343bff2ce5dc
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101452.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d972c819cf0f8732ac5a01744c9c880b5af85515c84f21c1c93ab1624bb40098
+size 681284
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101454.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101454.png
new file mode 100644
index 0000000000000000000000000000000000000000..79dbd453a2b2d2064a3598ea9b88bf7cd4a574b4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101454.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e14a0f48d536e2f1358ccf00b08766d2bf4c660411791e397c6d46169fe468d7
+size 679886
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101456.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101456.png
new file mode 100644
index 0000000000000000000000000000000000000000..f7cb93e7ba0f5b639c1cec12e5f75275b57adc6d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101456.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e6242b7c74be92211de857ac608ab3c23797f7aa801f499806cc81c006e6537
+size 678139
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101458.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101458.png
new file mode 100644
index 0000000000000000000000000000000000000000..ec82e623cd10cabf35d888330bbd630fb69898c7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101458.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79efd2ba943ae594f498634a76c685730e76911d8c407c9f22796073ea641a47
+size 674048
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101501.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101501.png
new file mode 100644
index 0000000000000000000000000000000000000000..6381ba4a2cd05ebecb8439de9602afc35d815f7f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101501.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e42de6736fdce99fc04298eb9b0f8bda2dbbfbc4fe371c812b69cae6f0b38ad7
+size 670612
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101503.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101503.png
new file mode 100644
index 0000000000000000000000000000000000000000..5ccc7bc83a20441fc3a418fd2130bf9d48efa428
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101503.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f6dc9377571671cb64c65f072b167b45296191c1e02b58ceba7fe5432bc231c
+size 666302
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101505.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101505.png
new file mode 100644
index 0000000000000000000000000000000000000000..e1c25d9cda1548846269f6d28d86da783fa9e61b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101505.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:033b2f72e3bc2fe99070ec8468ededddceed6f055a39916ec189735c8380990d
+size 663326
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101507.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101507.png
new file mode 100644
index 0000000000000000000000000000000000000000..f71ed0721a2e391ce544d7565c651c50ed8f3d25
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101507.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6146dea0b8acd645b9f635c3f544cf75d623e00a9d3fec16c3e29f9617bfb9c3
+size 668116
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101509.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101509.png
new file mode 100644
index 0000000000000000000000000000000000000000..9cf1de322622da7fceb877fe4d98c54bee99a084
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101509.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8bb4364d737c2da54c72de16b39daa4f2fc162c2ca57d4812314064ccb46681e
+size 670991
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101511.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101511.png
new file mode 100644
index 0000000000000000000000000000000000000000..3e72e14d3fa369b7359b1b70e459e13229785acb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101511.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:457e7066363da1c9180e0232652ef17b9ebb1ef550b4f30136f71f9eedc4a50f
+size 676211
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101513.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101513.png
new file mode 100644
index 0000000000000000000000000000000000000000..2dbd9b7f5841bc4d70c919c7d861d7a4e46d044a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101513.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f92c7df5c9e65945e51ee19e04589959b940ca54f0207519154d48c0ec31c6c7
+size 704021
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101515.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101515.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c14effe1fa6f4abb7337cd426943b3ab891cbbb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101515.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85fa38097bcbb902ede77dae0d00bcddbf77da0049fbfb60dfbaf0491be03541
+size 704825
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101518.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101518.png
new file mode 100644
index 0000000000000000000000000000000000000000..5b7d19e5e5b892444637bad3f56850118eda572b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101518.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:daf2c380ec88604be6f305ef85ce99f3856e1ceb768c63a53cffc8c515bdc50b
+size 694373
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101520.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101520.png
new file mode 100644
index 0000000000000000000000000000000000000000..072a7e82ff8e4e2bfd76d9400dea57d618d590cf
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101520.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64d39c26dfd4c4c602b3d79ff5cd651b267a2b9c5a8901b333169f11bfd65e9f
+size 705243
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101522.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101522.png
new file mode 100644
index 0000000000000000000000000000000000000000..fa1380721f42db338bb190d01a3b62e2949dcd15
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101522.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be1f3049d5034d8da868498eece9205f4ad9c3c8fc79ebec25daa41def69d8a7
+size 743284
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101524.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101524.png
new file mode 100644
index 0000000000000000000000000000000000000000..188223cab3db207ba64e43423924c43aa0e81252
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101524.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7ca43890ee83cb6c2923d001a039b55c1b36d0a879b1a802c45151b8193a9b5
+size 774481
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101526.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101526.png
new file mode 100644
index 0000000000000000000000000000000000000000..65d1aecaaf86d3ba27ade24b5b7374e663a7e23b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101526.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5b47b8ad1c52d435b36e74a007290dafd97d554d7a195eb736c05623db396da
+size 777285
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101528.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101528.png
new file mode 100644
index 0000000000000000000000000000000000000000..e619f270e097933665c799f487d4c1c8db1925b4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101528.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e80f4e6c146ee9c8c61d16501a74dd0a11301b241b7fa64ca404e6ff54ed9c95
+size 787267
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101531.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101531.png
new file mode 100644
index 0000000000000000000000000000000000000000..f0bc0d3533ab6b06460f94fde2af445cbd8f14db
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_10-12-46_774648/20250119_101531.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85576ce929cd12a422289f621e98f6c1e859ef33fb2bb27374330cef2fdb758a
+size 588309
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_21-52-56_387346491/20250114_215302.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_21-52-56_387346491/20250114_215302.png
new file mode 100644
index 0000000000000000000000000000000000000000..7c08bd31d26cf084b30fbaba4e54cc83f21e3667
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_21-52-56_387346491/20250114_215302.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4340cf0f6df7e4439d1608ed6e606cf13aec678a437c9993ac4edfe68aacce2
+size 478627
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_21-52-56_387346491/20250114_215303.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_21-52-56_387346491/20250114_215303.png
new file mode 100644
index 0000000000000000000000000000000000000000..e8c77e8679d85a93573288e85d8cfbfb31d6ab8c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_21-52-56_387346491/20250114_215303.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ae8b4430819270645e6fd9d784a08dcb4e0ab814145a965c3d4b5b6ad0c3cd9
+size 736321
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_21-52-56_387346491/20250114_215306.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_21-52-56_387346491/20250114_215306.png
new file mode 100644
index 0000000000000000000000000000000000000000..984f22b5bb478196e6ae23fecffa5126db7c249a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_21-52-56_387346491/20250114_215306.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85b95c7a681f7af32a2d85d97abcc520c711a5e57ada0272a6f8b41a4d91b714
+size 715280
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_21-52-56_387346491/20250114_215308.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_21-52-56_387346491/20250114_215308.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c39a9137318da8cb72b1cfd64bd3d6e5ed75987
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_21-52-56_387346491/20250114_215308.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b25f03f220f0e2a4f2a3ec09fcc7087d71b110479243900c8182ff8e24055f0
+size 683859
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_21-52-56_387346491/20250114_215310.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_21-52-56_387346491/20250114_215310.png
new file mode 100644
index 0000000000000000000000000000000000000000..f689250cb7c5c23340745ed96334bdc23eebcfd0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_21-52-56_387346491/20250114_215310.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2307c455878944ca5802d34b60f1ce9627d877c84bf044c5f45953ceb27a6bf2
+size 671956
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_21-52-56_387346491/20250114_215312.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_21-52-56_387346491/20250114_215312.png
new file mode 100644
index 0000000000000000000000000000000000000000..818cec67a185ea149249b31fb93ff0b1243f71da
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_21-52-56_387346491/20250114_215312.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7c77ac66653cc39f2da6dfc4fd2771ed7b4a0f516c035a90b855261e50c431f
+size 675899
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_21-52-56_387346491/20250114_215314.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_21-52-56_387346491/20250114_215314.png
new file mode 100644
index 0000000000000000000000000000000000000000..ac5c288e381824f1ab2f828bdeb3812a58f62195
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_21-52-56_387346491/20250114_215314.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4569db60a76b643efe0569db9c831c578213b57cd8db30a4922cb0993edd7d2
+size 678609
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_21-52-56_387346491/20250114_215317.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_21-52-56_387346491/20250114_215317.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c1cc35a539241791ce04f21ed9070d8278c1b62
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_21-52-56_387346491/20250114_215317.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:135b8a85e1f99a5a620c03b5c3783bbe50bc3b856d332cdd43dc42d8ad40eb15
+size 680824
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_21-52-56_387346491/20250114_215319.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_21-52-56_387346491/20250114_215319.png
new file mode 100644
index 0000000000000000000000000000000000000000..942b3cd679ca8c2622670f118ea8c9fd055b7454
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_21-52-56_387346491/20250114_215319.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a2bf125ad3f8e6fe0ef5f07295939fdc7c60d7557ad8592a7ccc5bc9f2e6287
+size 668002
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_21-52-56_387346491/20250114_215321.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_21-52-56_387346491/20250114_215321.png
new file mode 100644
index 0000000000000000000000000000000000000000..8f2cf3be77754067a7b1a964c47add066fdba602
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_21-52-56_387346491/20250114_215321.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0091b4def0621bee6995c6828a82fe9903d785ba15b6d46a659900d3adc06006
+size 656976
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_21-52-56_387346491/20250114_215323.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_21-52-56_387346491/20250114_215323.png
new file mode 100644
index 0000000000000000000000000000000000000000..b4e907de6edc511a9af8a587e8c9169b840962b1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_21-52-56_387346491/20250114_215323.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13cf5db03660c99e4b34d44be5f1f705f5ebd598f7b4eaec330e64a592a4d350
+size 663067
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_21-52-56_387346491/20250114_215325.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_21-52-56_387346491/20250114_215325.png
new file mode 100644
index 0000000000000000000000000000000000000000..e24e26e5563771153c232a01006323d45c6f334e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_21-52-56_387346491/20250114_215325.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34e46f5f64ee6986693072aaeb75026d89b5818ac190fc025bba3b4f69818bad
+size 685430
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_21-52-56_387346491/20250114_215328.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_21-52-56_387346491/20250114_215328.png
new file mode 100644
index 0000000000000000000000000000000000000000..8ef73fa021e66061c6a998f9c4368a016c986621
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_21-52-56_387346491/20250114_215328.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f3599fe3c6cf2627704677f114247ccc80c53043ade69ce31acda79f833b22b
+size 363949
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-19-19_927376882/20250115_101943.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-19-19_927376882/20250115_101943.png
new file mode 100644
index 0000000000000000000000000000000000000000..0bd69cbe23c48e6fc39a4c7add5b677ace9948fd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-19-19_927376882/20250115_101943.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78cd11c9587113a64d96c4f4c70c9de973fc4c8a393d032ba7e1515426243c7f
+size 766707
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-19-19_927376882/20250115_101956.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-19-19_927376882/20250115_101956.png
new file mode 100644
index 0000000000000000000000000000000000000000..0687c1a35cb5f554813d54e2c3cb0fa92f4ea136
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-19-19_927376882/20250115_101956.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82dcbd2cd402bbc9ce046ab9c5c94398a6cd58e1446aa0f53a87b3adb13930fc
+size 794223
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-19-19_927376882/20250115_102007.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-19-19_927376882/20250115_102007.png
new file mode 100644
index 0000000000000000000000000000000000000000..a34acb689e4c41b3833fe2c9d2532fb47e3e3ac6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-19-19_927376882/20250115_102007.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:656f11ae0a06179eee6de0e5cc4739fb1d378d6f37b2317bc751de4d4e2cdb22
+size 810991
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-19-19_927376882/20250115_102012.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-19-19_927376882/20250115_102012.png
new file mode 100644
index 0000000000000000000000000000000000000000..bd5e3d1d2fc33c231031cc0d5ad5260f63b3165e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-19-19_927376882/20250115_102012.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56379e90ff9e066ff9d5b3b252b3e0d49489ab16688cb4a3fe691c097672dd79
+size 816028
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-19-19_927376882/20250115_102020.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-19-19_927376882/20250115_102020.png
new file mode 100644
index 0000000000000000000000000000000000000000..d50c25257a6a29d92009e93f81611b468ed26b13
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-19-19_927376882/20250115_102020.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad6ec49248b1525cb9e06d5404d9e487a50e0ba21260ee95da347d0f2f4a4d22
+size 827591
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-19-19_927376882/20250115_102035.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-19-19_927376882/20250115_102035.png
new file mode 100644
index 0000000000000000000000000000000000000000..ffeb84f339e1a7ab2579d221bd29dc49bde32e5b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-19-19_927376882/20250115_102035.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c013c9f433951575f0a6722e8b5bbbc178cfe927a689ec3bf19af34341dfc6f7
+size 840471
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-19-19_927376882/20250115_102045.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-19-19_927376882/20250115_102045.png
new file mode 100644
index 0000000000000000000000000000000000000000..3e4ab94c879b6f2a5bafa8ce7e9cf2b3083abb59
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-19-19_927376882/20250115_102045.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:839533b4a61f806d4d871f6f19164bdf17340feff23521be2f8f8eb99f89722a
+size 842610
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-19-19_927376882/20250115_102110.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-19-19_927376882/20250115_102110.png
new file mode 100644
index 0000000000000000000000000000000000000000..4d099741b6eff8f17ae975142c9c7c254ab0f97f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-19-19_927376882/20250115_102110.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c90e4b34ef9437f80e1baf684af6110542e950ca2e9064cf50d0e9596396d794
+size 876162
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-19-19_927376882/20250115_102123.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-19-19_927376882/20250115_102123.png
new file mode 100644
index 0000000000000000000000000000000000000000..99af1804be33fcbd0ebe589ec1100847f65ccc84
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-19-19_927376882/20250115_102123.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4098ba5600cbff58a183a6c8bbbe8f2ee832b9f7ce88a222a9962377ee26a4b8
+size 897960
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-19-19_927376882/20250115_102128.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-19-19_927376882/20250115_102128.png
new file mode 100644
index 0000000000000000000000000000000000000000..cf6f5dc9e3ac4818ba85ec51f5f8836385aa9254
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-19-19_927376882/20250115_102128.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:276bad4a1faaef671a3d84792f3d0a8bcd128e7f269f505d64bee46c4cec8ea0
+size 862566
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033423.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033423.png
new file mode 100644
index 0000000000000000000000000000000000000000..84b436108321f60672767f85ce52ccad17801893
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033423.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:414f27d3189686d3565bc3dae344397e30381a76bba7f3b9f74435f8bf9193af
+size 750692
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033425.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033425.png
new file mode 100644
index 0000000000000000000000000000000000000000..7a3f2ddb42a89d930d4399549c90896843ebefc6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033425.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56a14fde3e0b82cf467a51ac44868ccdc99787ee2ecbd62dc0555fdc25e070e6
+size 787365
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033427.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033427.png
new file mode 100644
index 0000000000000000000000000000000000000000..987c7ee534bd6c9982631d4aa7a879a21d0c585c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033427.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d43657528e683c94a7f6075cd10cd81d0f0c1ebd3f0323aa4969815c95a03aaf
+size 749615
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033429.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033429.png
new file mode 100644
index 0000000000000000000000000000000000000000..d5d7d7f5d4bcfbcbc8912c7790a780e915ac3074
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033429.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c595b7e5a93c9aa4e329313c057fcbaf41abea36fda7f80c8b6247615be5ff0
+size 730198
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033431.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033431.png
new file mode 100644
index 0000000000000000000000000000000000000000..6a653e3a40a1fea1562133dd9f8dd45a6232b707
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033431.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38989194bae2eb75f287477e09bd22a45ec2675bf0df9fa134b61fd925da84da
+size 719773
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033433.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033433.png
new file mode 100644
index 0000000000000000000000000000000000000000..c014dc2e4f12f1352c6c4b96243f2a6286d96982
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033433.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc600777ca7b13c8dba720540d364412d5a914dfb4a505c6eb71ca7eccd41090
+size 713243
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033435.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033435.png
new file mode 100644
index 0000000000000000000000000000000000000000..6ff7ffc5778c8653dc3129dfaf99dbac6c30898d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033435.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45c83f7bc9d64423349edb43b5919c42cf62e88c2dafc220d8754bc7729166e1
+size 710510
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033437.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033437.png
new file mode 100644
index 0000000000000000000000000000000000000000..c0f52d11733986bb5748898f3ed93097ba33d277
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033437.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2472413c7591d23a7605213a1a80614cba44c1541c672f6888c87b3afa919b59
+size 709844
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033440.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033440.png
new file mode 100644
index 0000000000000000000000000000000000000000..9028f2980aac17513ee93ac4f7ee32e74f6468eb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033440.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a1b620e5c0fe58269ee82f222be963687967143d898056e2f23e36b7c589eaf
+size 706258
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033442.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033442.png
new file mode 100644
index 0000000000000000000000000000000000000000..a329bc1ede846c25550729280509ce467de16774
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033442.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9dee706478330c01765bb38831b42cab471f7654d4d4aca50acf2faab683dcc
+size 704092
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033444.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033444.png
new file mode 100644
index 0000000000000000000000000000000000000000..08dcced94c36039c534cd2e5927487c515a06670
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033444.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d232a81409f79918976aa5a168b594344a395e0857f0c0491adf4d0a9d1c9bcc
+size 705655
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033446.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033446.png
new file mode 100644
index 0000000000000000000000000000000000000000..2edc7f219846aa26df818dfdc05de3406116330d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033446.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a26d1ec38f71fd5b793cc8ce35930310538dd9b0dbfbd2f7c227b0118efdaff5
+size 705892
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033448.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033448.png
new file mode 100644
index 0000000000000000000000000000000000000000..06c3fcd85cf68ede7552bca209192034516e5519
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033448.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92c6a24284825a7cba7fed12010ac07fbaeec9b5ef2dd60465da30a9bc5e4318
+size 705430
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033450.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033450.png
new file mode 100644
index 0000000000000000000000000000000000000000..76764b2202305329a4f8d351a06c8399d12d0442
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033450.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f03f6ef2c8b8e1d8963dd6e4ec811cd338957fbc3f647cb01a787888e47e5655
+size 705658
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033453.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033453.png
new file mode 100644
index 0000000000000000000000000000000000000000..0dd35ffd92c160caebb56760ad29fc7ee02d7547
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033453.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2841418caac15d661ee4536bb2048add578b8857cee4854dc3728befa7f3e2f
+size 707814
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033455.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033455.png
new file mode 100644
index 0000000000000000000000000000000000000000..dadc14d906887bf451699408819def5885071822
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033455.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5117ad28f2a72507505d617e36a455fbe50e5dd3502fb2527bf119cfe2832b3
+size 709346
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033457.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033457.png
new file mode 100644
index 0000000000000000000000000000000000000000..fc279e35bfa31765c60b158bbf4ee55050f1f913
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033457.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d441c7d840e7a9a1a04db066fae6b3f9727564618f2c2af50faa8c550ca5035
+size 727087
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033459.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033459.png
new file mode 100644
index 0000000000000000000000000000000000000000..66f89761e888f1e2350d5b90be9f71e7aa3d770a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033459.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95053e041a2818f8480820ea05b88dcd9ba8fecd9c572ee169b14ed31de7a03c
+size 733892
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033501.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033501.png
new file mode 100644
index 0000000000000000000000000000000000000000..48b2854908bf4d3b980c5074af1fbd43bfe5c6c1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033501.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea85af9887eac82d84d2f8a62e3020f1625c360f60361570266aa2cbb71fd51e
+size 693573
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033503.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033503.png
new file mode 100644
index 0000000000000000000000000000000000000000..d601281bde9d47de37caff3662c988c5cefea50d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033503.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a32b039fd28833bc59bbdafdf7b27b578061578bd8e8d6942efe4f91c3d2abb6
+size 692456
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033505.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033505.png
new file mode 100644
index 0000000000000000000000000000000000000000..fd1c8eeed7f3fad884425204cd427c28ff62d644
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033505.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1a51fdc49418a1b6eca6dea43118853527d5af9b40cd688833ae5830e713cff
+size 694423
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033508.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033508.png
new file mode 100644
index 0000000000000000000000000000000000000000..3572e9a24d754031cd5d1c0f71ee26dbf8a6ce27
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033508.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac2261cc3ef68c1a2a87932a03ec2129dc929383623c24066b33258570d53926
+size 692304
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033510.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033510.png
new file mode 100644
index 0000000000000000000000000000000000000000..34f7726f69ba87681c83e5683121236e3928f909
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033510.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0100b796b6b43b3be15a4333c79df306114ab578c8191496abc18696783d588
+size 749510
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033512.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033512.png
new file mode 100644
index 0000000000000000000000000000000000000000..63f4d395bcfa645fd7c366ddbf33b3d16970d6cf
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033512.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9c0df4f7a075c959c73c2337663513cfa28c845596fa0b5824d68640a6bb068
+size 753910
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033514.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033514.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd2654cc1b66d15d2d2e18986b29825f232510e1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033514.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17a043da06950e9c41750ed68e0b2a481b4d8bac6558e1ba0d5a02a3971eb0d5
+size 759806
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033516.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033516.png
new file mode 100644
index 0000000000000000000000000000000000000000..7c18811a194df059b6c92d75dc1598ed50f1d92d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033516.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cde535243db6c5da2b13b4cd8a5b3b0366f146cf52dcbf62b2db9bd5361d3d58
+size 762996
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033518.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033518.png
new file mode 100644
index 0000000000000000000000000000000000000000..92b845c88f83947d3b02f66e7ad6a02b1331d36b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033518.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3eb249f04a46968218269f04dbf35c4f4262791f7792410b846eb5c5ebf0d853
+size 763207
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033521.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033521.png
new file mode 100644
index 0000000000000000000000000000000000000000..4bfc7cb4300e0795ba7cb65d2fd493bdac5d490d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033521.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e0484b65aab1a87e048099b7e55f17ee00cdf44b88dbc339e4a908543dfeebb
+size 759490
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033523.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033523.png
new file mode 100644
index 0000000000000000000000000000000000000000..3ca406b96d632ee9f8b221dbdf52e101aa3fe727
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033523.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89e65667bd2b5cee5e41fa98186644c59721011b93dfd98a65c880878aa9476e
+size 759834
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033525.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033525.png
new file mode 100644
index 0000000000000000000000000000000000000000..8952081d9d8d92e7a821fb75f7abccfd2d59a1bc
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033525.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:948b8c45c9eb13ff58990cb657647e724d041f76e78007a414eb1dfe3a67724a
+size 753968
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033527.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033527.png
new file mode 100644
index 0000000000000000000000000000000000000000..c777273ce664570d3db8db82df2bbe5764b02912
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033527.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9f757879c1119d51d6358d6cd7d35a8788da13571c2aeabb04e1f45dabbba1f
+size 748666
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033529.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033529.png
new file mode 100644
index 0000000000000000000000000000000000000000..46e38f01085709adca86e6c6a36edad521a67f53
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033529.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e06b19b6dc7a2570608e37c22cce53373df6343b6463db148916a0250599d5b
+size 742820
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033531.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033531.png
new file mode 100644
index 0000000000000000000000000000000000000000..167d5584cf038bc3f27febed747343c8d83f13ab
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033531.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35fffa5bb29402fb1b749f833d227716215f0db19995f8ae1333e141e01e4037
+size 741171
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033534.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033534.png
new file mode 100644
index 0000000000000000000000000000000000000000..dfad86e9ef0773524e5b7e2ca414f902102c57a0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033534.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4934c094f83858cf30cd46cba98da3eae0cf8981e2901a1f2c63da86619374c
+size 737847
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033536.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033536.png
new file mode 100644
index 0000000000000000000000000000000000000000..6f67219ac97e36f642f6acbe5c29fde31b69403a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033536.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8f447e1e506fe3e6b5dc35d883ceb2f7631237471c9da2b00c69cead9ad463c
+size 725622
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033538.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033538.png
new file mode 100644
index 0000000000000000000000000000000000000000..a3cfa6f5490df93e5190ba7217fe832b1dbe4a3d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033538.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e5640a355e17d5eef2d86f8cdef3524dd534cb9a49e65f29d978d25206ffc6c
+size 724553
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033540.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033540.png
new file mode 100644
index 0000000000000000000000000000000000000000..75f1ea45fd8294717fbf1694acfa1f213abbeebc
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033540.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b203da3187e5ed31415308be8a9a96eda9f2f76801c7bd67d2c308ed3ae50a65
+size 723110
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033542.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033542.png
new file mode 100644
index 0000000000000000000000000000000000000000..212f4fefc6a0169d3e28ecf5973bbf47d0f250b2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033542.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7e339a77a59843b56d85d9972ead82c8379116f9092c7ea6640a5e41506fe6d
+size 719283
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033545.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033545.png
new file mode 100644
index 0000000000000000000000000000000000000000..b0b80c7fd7fb153a3d84723369c8a2523973a850
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033545.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:739fb0cc2b013401976a9d994060f9e0e09dc8d3a011ba4b0138c1941f4dbeb0
+size 714398
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033547.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033547.png
new file mode 100644
index 0000000000000000000000000000000000000000..da5f14101ac9e3a1cc589b0667d041d5e280595b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033547.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3a073439245b725681a8697c51e89b3d94b270ee0dc7bddb4cecf5ad33e2746
+size 716751
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033549.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033549.png
new file mode 100644
index 0000000000000000000000000000000000000000..40fc083dc77c092dc03fced983514889ffe69ddf
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033549.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87ef6be6bc967a19322075207fed13e1a1755cdbf7845e06b35a08f9cb444a5a
+size 703362
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033551.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033551.png
new file mode 100644
index 0000000000000000000000000000000000000000..3289ad9c032e9548d487dec492ee7b62b7778b0b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033551.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b2832a9021bb0606d61c82472be7ebe9e72a3c2d5de97a1098b3bfba519d53b
+size 688852
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033553.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033553.png
new file mode 100644
index 0000000000000000000000000000000000000000..cfdf979c891725f1802704f45b3ea73ea6e2d392
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033553.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b043921209438ff423122804a30f268fc84d38a29afffb1b130bee6ed8f0212b
+size 690711
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033555.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033555.png
new file mode 100644
index 0000000000000000000000000000000000000000..7fa72ad30409afef25f0cb92a1fa361c6156a4b6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033555.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97fc30ed9713515d1ac0a9f255e64382c1f64f8b71600c0584111794846a2ff2
+size 697227
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033558.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033558.png
new file mode 100644
index 0000000000000000000000000000000000000000..7f4da66fb66d689605fccbd2ddf905a007d77e48
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033558.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbd9d0dce3af1859a62bbdb7e9edf187826301a723d83905b7c7bc884107df7f
+size 695622
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033600.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033600.png
new file mode 100644
index 0000000000000000000000000000000000000000..be51df2bcac4cc18ad8edf728ae2e2515c64ebfc
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033600.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e3e01e357711798ae543f3d8a7b9a81a84d6c8fa9cb545a721f5911b25dd5f5
+size 698041
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033602.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033602.png
new file mode 100644
index 0000000000000000000000000000000000000000..ba408fc3cb27fd1428b65da4a95c6e5f9627eda5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033602.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1e8d1f6386f32660942d8cc6059e38917357f1c5ed84b8eca2a07a48fadbbed
+size 699680
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033604.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033604.png
new file mode 100644
index 0000000000000000000000000000000000000000..31a1991b6543457b86d88a259139c7a7c287e40d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033604.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25415c315c972fd7b9e3724538e1424d0e467c342f7baa28205d6a9c03b49397
+size 688025
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033606.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033606.png
new file mode 100644
index 0000000000000000000000000000000000000000..f5c640226b239a9f03bde37ef38325ce2c87c04d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033606.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8842d178c2c902357907f4e486ac531a43f52cac44266fbac5b120fbaff896ba
+size 682213
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033608.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033608.png
new file mode 100644
index 0000000000000000000000000000000000000000..ca8eb455cb6f1e08574e79a1e5cd236bbb51872a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033608.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c412522479439771baf360a83449ab52c72f1a18720f8c80cfa95d09816b9d8
+size 686395
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033611.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033611.png
new file mode 100644
index 0000000000000000000000000000000000000000..afd9d5314e33d3766c51f6a6d7e623eab0bb0021
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_3-34-18_1129033333/20250115_033611.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7743a193a6dc73cc16a5b6849b6d3511cf5db24550e32aa714f4b19a31bd2940
+size 753271
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075727.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075727.png
new file mode 100644
index 0000000000000000000000000000000000000000..dcc9dffad6dcf926ec043758df88a2ede0f828a4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075727.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c49be01c7f85cc2748cf0d4c234a999ee32cd9f2f9c79bf7eac295ce5441ca36
+size 871559
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075729.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075729.png
new file mode 100644
index 0000000000000000000000000000000000000000..57a7ed5975613fa4eae0f7354261828e7de345f1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075729.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c4e317a0ba58cf3a94b4232e64aae52c6d23e1a95886d827c4995078bfc9b2d
+size 839532
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075732.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075732.png
new file mode 100644
index 0000000000000000000000000000000000000000..3f4f6fe3d51430871b7de4d490435dc6047289da
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075732.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2d0e1bca0164991a0e3cb49d0e7353aa95148d4838f295f99edae90dcdab21e
+size 839400
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075734.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075734.png
new file mode 100644
index 0000000000000000000000000000000000000000..7f4fa3f33a692d7afbbaa8fb62729aa7ca73283e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075734.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6622471ea7460628ad80da9596c4a146bb74fa2229e7d12733b5df124275cf2
+size 840543
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075736.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075736.png
new file mode 100644
index 0000000000000000000000000000000000000000..71a13a8b0ca1e2e28b52e583e4f03b53962ea80c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075736.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d6c4027b0681725cbc69e2984d5b5e249c9767659190fb927a39c9727aaccf8
+size 845522
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075738.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075738.png
new file mode 100644
index 0000000000000000000000000000000000000000..a184dab4fceebae8a1f50540187219d8cff8aa9d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075738.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:347dbb22b57b396a59d891543963780e982fb2ba9d08d4cf6538d5a45b448464
+size 855128
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075741.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075741.png
new file mode 100644
index 0000000000000000000000000000000000000000..e3c81be857db0749443f80fd66dfcdc49c091be0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075741.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5985eeba0651dfb943f14fa4244930fdfbe32ec14fdfb283c5132e2d12b77e9b
+size 848516
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075743.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075743.png
new file mode 100644
index 0000000000000000000000000000000000000000..0522df52d5912c0099bd7195682c6376c8fb51bb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075743.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3327139d2a95ae4b4541e44b04dfd0fbff9c93bf43807938f5f868168e446a4
+size 841803
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075745.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075745.png
new file mode 100644
index 0000000000000000000000000000000000000000..8802e54ee43ef15356a300b24078bd6326e70004
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075745.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68f6155ff9edb1a7920f204ed8f61e6f6f33027415b0d4434d302d7610414e22
+size 805074
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075747.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075747.png
new file mode 100644
index 0000000000000000000000000000000000000000..8393da8d713950331b8aa1fcd1023d5c8a8ad176
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075747.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53ed3c742c7f6f5ba76d2f7a7f56188b16777e2dc5138c6fcd6930c3abab2ff8
+size 813610
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075750.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075750.png
new file mode 100644
index 0000000000000000000000000000000000000000..fdde0579429646efceaa7dd98db2a9ef15701a3c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075750.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7061a911b500e64dfffba30c3d9825d46537b741a40ee7bbd94eb9326d0c731a
+size 817799
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075752.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075752.png
new file mode 100644
index 0000000000000000000000000000000000000000..3dffc3410a76772be60f6b28d123c7494950bba2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075752.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfc0546292fc75f49c98765569797ae47c41740b827c908e9f5c5925debe13fa
+size 825983
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075754.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075754.png
new file mode 100644
index 0000000000000000000000000000000000000000..d68af4fd6caf2b15bc7ab22f6ea1b3ea4d7cf61e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075754.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b23b471e9165fc4c8447c3ba170d75ab39c568a3376fed87698dfef9c1c83fb
+size 823367
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075757.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075757.png
new file mode 100644
index 0000000000000000000000000000000000000000..3d16dcf9b586e9119fc778147cdb7baabb6171fa
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075757.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d656c13a65d37d05dd0a5743a69585d572544e0c85736877e39a876300e5552
+size 821129
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075759.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075759.png
new file mode 100644
index 0000000000000000000000000000000000000000..16a16ba9d91046226b9161dd4fa768c7ba76e3c9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075759.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a48d5232d09b8c0bd87d84c70203db69759e8cfbafd10aa9189c3797e0f52568
+size 817764
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075801.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075801.png
new file mode 100644
index 0000000000000000000000000000000000000000..7be06403b06648f10b0f83a315ae6a84825715c9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075801.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab31809a2230891108c7bc41f2b9c97de153b26298fccc486cb2d5e55b823211
+size 813237
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075803.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075803.png
new file mode 100644
index 0000000000000000000000000000000000000000..9fa3ef5a39bfcd49521cf06dd7fe5b864537350d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075803.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f038f5497f372c5fd1c2c65615569cde5e97cde3feb666645d3eb53d6e7c7791
+size 811859
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075805.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075805.png
new file mode 100644
index 0000000000000000000000000000000000000000..a28264d5c95de7777dd295f27c20ee120ab529b9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075805.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecd0a2cf9ba6b482dd806f2946063011443845d6e10e909c625578846366e276
+size 797987
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075808.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075808.png
new file mode 100644
index 0000000000000000000000000000000000000000..1ca94cadab0031ad463873157218ea219ddbc8e0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075808.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05524fb9368ebcdabfb3a40bfd248887cac264ff2cac1960abd3cbc6efb2d0d5
+size 853748
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075810.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075810.png
new file mode 100644
index 0000000000000000000000000000000000000000..368592ef1f44dc2ca7ba9eb3c9f27f8be1600e0e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075810.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:126b455e8a3ccebe9cc9a2bfebe925e9a8e3ae8937d681232959b77bb6e147f2
+size 852221
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075812.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075812.png
new file mode 100644
index 0000000000000000000000000000000000000000..162fac3fdb20f8d9d0f0517cd8f17a746972e677
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075812.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7df355521bdb71545d50c088e84fca0342801b65cabd80f74adfeec9203d808
+size 849848
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075814.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075814.png
new file mode 100644
index 0000000000000000000000000000000000000000..c41095e32e40e098a8f0a67f7ab5d12f84068bb0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075814.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7483dbffc19c9ffde6bafa8c4072a5639e0760db0d2e659ec426b2e489e64b6
+size 832982
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075817.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075817.png
new file mode 100644
index 0000000000000000000000000000000000000000..33589984ba18d6741a0623ebf9796f3a375cfa6b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075817.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e96d405501ef36fca239fab4e57e1e157c34f70629caa1d9bb4a05205dae0579
+size 831077
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075819.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075819.png
new file mode 100644
index 0000000000000000000000000000000000000000..67d85494938e14c0ac071376adf4ccb1e89b413d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075819.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1702b8fb2bece884f84d84658842232217dd2e44e3689980e0e1c45d4cd9943
+size 829676
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075821.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075821.png
new file mode 100644
index 0000000000000000000000000000000000000000..417e47234e357a81e5283f43851f7a302b142eef
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075821.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f07d0e0a2aa9ace17638a81beacace2425f4c631b28dc254e144d19919194a5
+size 818509
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075823.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075823.png
new file mode 100644
index 0000000000000000000000000000000000000000..589da6fe6cca45550b3101b12b4002e33a0225a1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075823.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d8b79dcaed8991788dcb0ba55d326482309c4860981c324ccad038143e36faf
+size 796816
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075825.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075825.png
new file mode 100644
index 0000000000000000000000000000000000000000..5e4b21ca002bdc659a3c5589d3733e7bc4f75bb2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075825.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5759b8209e95e18ab47da09e387c51d8a1a1a027daeaccb55cc35be34218364c
+size 807854
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075828.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075828.png
new file mode 100644
index 0000000000000000000000000000000000000000..9cbc0fff1e37c3658210407d6c7f6979854d0c0b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075828.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7254a33dedae7d628d5d9167da39b82a217d9995f54d40e93048bfdbeb93350b
+size 813711
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075830.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075830.png
new file mode 100644
index 0000000000000000000000000000000000000000..360ad704746afcd63a39a8b24a1130c1991c7e87
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075830.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93e053bc0129d99c77bc577cdf1d09ffdeb28dd64bdca038c35da2df59ca901f
+size 825701
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075832.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075832.png
new file mode 100644
index 0000000000000000000000000000000000000000..fe070f87880b5a1101d3fed97343ae781181abcc
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075832.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d66cba78f551bc51ca1cf4aa13254af1a06d9f8a32e7cffe87f4c4fd3e2af4bc
+size 821860
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075834.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075834.png
new file mode 100644
index 0000000000000000000000000000000000000000..23af14268af0eba78a96ae57fe23c131deec8e36
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075834.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f27e9a14fc75305c4f1bbddb8398873a8276de510268eccfb9c216601a32b24
+size 826163
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075836.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075836.png
new file mode 100644
index 0000000000000000000000000000000000000000..7d4e0cbb78ccfd9f5732a3102ecf77c3daf5c0de
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075836.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84142ffad2a00addf5f38f8e86c326e5d64cafde5686181c1e475c5b85c82076
+size 824990
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075839.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075839.png
new file mode 100644
index 0000000000000000000000000000000000000000..2c3804f7d84bd9da8eb3bd0d8feedef9c1082fff
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075839.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fbcb63bc9588f5dbdc47233b486bf9f9e46306723c93c02ec7ce22dc64c257f
+size 834604
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075841.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075841.png
new file mode 100644
index 0000000000000000000000000000000000000000..3b8f775fb83c7f211361ee8c9a752987c02cd03f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075841.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e440a5a9dffe75d98204ea0ca11f3f332b86baa13370db031006abf15a680c4d
+size 839126
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075843.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075843.png
new file mode 100644
index 0000000000000000000000000000000000000000..0201c4a6547adf40e586db155f69fd9eb7e83a33
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075843.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7cd4f05496813c627fcf4cfff307aef42adc8b12ccfff4cf7cd052b39a3ced7
+size 851143
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075846.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075846.png
new file mode 100644
index 0000000000000000000000000000000000000000..6bf896a54d8426e0ec7343463b8cc24aa30f587d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075846.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf412251afc00ba967fd4e4545c0faf4049bd709fa5e8eda0b2fa96e3205a684
+size 842753
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075848.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075848.png
new file mode 100644
index 0000000000000000000000000000000000000000..8f9e872ee1957da2c4cc156734971782bae19697
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075848.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebfc6342d728af1dd48a3cf6f89523338134497d2bcb276b1453e801f3ae6fc5
+size 844247
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075850.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075850.png
new file mode 100644
index 0000000000000000000000000000000000000000..c92f6162e141bb2315c38f0838aed75e617f9688
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075850.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e13c5ce7b3c6c44f9a58f8860f181a2ff80c7201825b28818516561958a9fd2
+size 846730
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075852.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075852.png
new file mode 100644
index 0000000000000000000000000000000000000000..34ef4f49e6f313c90ccb7613abe10ff52ae566f5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075852.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e99b9cc9524ac591a9767a3d5a51eaac1769f9d0939f10739f0142970a99608
+size 837364
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075854.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075854.png
new file mode 100644
index 0000000000000000000000000000000000000000..07941294a974aea6513e537668770aa6af2af7b8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075854.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3f4b43d47e9b022806c9bffafaadf9018908594da2af6d38b4c3a0de44bbf10
+size 832395
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075857.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075857.png
new file mode 100644
index 0000000000000000000000000000000000000000..085518f0fedba7b2b76707c048dd318b29cd03f1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075857.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b0496b09d32ca7d1910576c5fa7c33c10135d9059378d82f3e0dd042431b40b
+size 820362
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075859.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075859.png
new file mode 100644
index 0000000000000000000000000000000000000000..88083283f3368d698c5c4be992d7858fa0731cf5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075859.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efd66ec3619037cdec1395440de1f76e2999d9ab3c733a68262df3480856862c
+size 803915
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075901.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075901.png
new file mode 100644
index 0000000000000000000000000000000000000000..df11f9701dfe9118b105ce0cddbeba2aa23e9b40
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075901.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63d12ed8619a086e4ca45e25d3b163440b4e03685c8eab8bc48dc6584a4c674b
+size 785810
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075903.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075903.png
new file mode 100644
index 0000000000000000000000000000000000000000..d0e91310b6224540a55f8318dcfb19c398205733
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075903.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbfaeeb1e7a81992898347eab694b10709683722de38de3482530c788fc47835
+size 786693
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075905.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075905.png
new file mode 100644
index 0000000000000000000000000000000000000000..afaa8792cc593eb8e3df1f0d41924e7e68f0a335
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075905.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6a05e75c1d93adb2ab4c278790b17908ff75b825110efd2f1d8cb7403639549
+size 783207
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075907.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075907.png
new file mode 100644
index 0000000000000000000000000000000000000000..1a5586e5c866985d783cd589f0e2208ec2bca59d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075907.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:349b555db39ec52767badd086d37f55a7ec67c91b3e0c259b1c815ce0f878856
+size 776133
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075910.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075910.png
new file mode 100644
index 0000000000000000000000000000000000000000..911ed02269ebb7bf87916c8a128b4afefdcf8d06
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075910.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff276d791f854598d43f8862b9506737a8deaa335d7db9ebf907e240b1a26be7
+size 769879
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075912.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075912.png
new file mode 100644
index 0000000000000000000000000000000000000000..24b8c76d1261114e4e0dd97c56e3a161b6a730b7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-57-21_983631233/20250115_075912.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef17e71d2091872988f057c89aad19aaef9caecdc2020913d7f371e65b8e307d
+size 813388
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_21-30-28_184803526/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_21-30-28_184803526/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..29fb77da9d78c34dd2c03da00f30240fadeda43a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_21-30-28_184803526/pose.jsonl
@@ -0,0 +1,977 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1923.539975881951,
+            1633.43758108798,
+            1.5885618391090617
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1923.539975881951,
+            1633.43758108798,
+            4.588561839109062
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1923.539975881951,
+            1633.43758108798,
+            7.588561839109062
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1923.539975881951,
+            1633.43758108798,
+            10.588561839109062
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1923.539975881951,
+            1633.43758108798,
+            13.588561839109062
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1923.539975881951,
+            1633.43758108798,
+            16.58856183910906
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1923.539975881951,
+            1633.43758108798,
+            19.58856183910906
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1923.539975881951,
+            1633.43758108798,
+            22.58856183910906
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1923.539975881951,
+            1633.43758108798,
+            25.58856183910906
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1923.539975881951,
+            1633.43758108798,
+            28.58856183910906
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1923.539975881951,
+            1633.43758108798,
+            31.58856183910906
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1923.539975881951,
+            1633.43758108798,
+            34.58856183910906
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1923.539975881951,
+            1633.43758108798,
+            37.58856183910906
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1923.539975881951,
+            1633.43758108798,
+            40.58856183910906
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1923.539975881951,
+            1633.43758108798,
+            43.58856183910906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1922.039975881951,
+            1630.8395048766267,
+            43.58856183910906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1920.539975881951,
+            1628.2414286652734,
+            43.58856183910906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1919.039975881951,
+            1625.64335245392,
+            43.58856183910906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1917.539975881951,
+            1623.0452762425666,
+            43.58856183910906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1916.039975881951,
+            1620.4472000312132,
+            43.58856183910906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1914.539975881951,
+            1617.8491238198599,
+            43.58856183910906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1913.039975881951,
+            1615.2510476085065,
+            43.58856183910906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1911.539975881951,
+            1612.6529713971531,
+            43.58856183910906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1910.039975881951,
+            1610.0548951857998,
+            43.58856183910906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1908.539975881951,
+            1607.4568189744464,
+            43.58856183910906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1907.039975881951,
+            1604.858742763093,
+            43.58856183910906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1905.539975881951,
+            1602.2606665517396,
+            43.58856183910906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1904.039975881951,
+            1599.6625903403863,
+            43.58856183910906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1902.539975881951,
+            1597.064514129033,
+            43.58856183910906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1901.039975881951,
+            1594.4664379176795,
+            43.58856183910906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1899.539975881951,
+            1591.8683617063261,
+            43.58856183910906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1898.039975881951,
+            1589.2702854949728,
+            43.58856183910906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1896.539975881951,
+            1586.6722092836194,
+            43.58856183910906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1895.039975881951,
+            1584.074133072266,
+            43.58856183910906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1893.539975881951,
+            1581.4760568609126,
+            43.58856183910906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1892.039975881951,
+            1578.8779806495593,
+            43.58856183910906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1890.539975881951,
+            1576.279904438206,
+            43.58856183910906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1889.039975881951,
+            1573.6818282268525,
+            43.58856183910906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1887.539975881951,
+            1571.0837520154992,
+            43.58856183910906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1886.039975881951,
+            1568.4856758041458,
+            43.58856183910906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1884.539975881951,
+            1565.8875995927924,
+            43.58856183910906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1883.039975881951,
+            1563.289523381439,
+            43.58856183910906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1881.539975881951,
+            1560.6914471700857,
+            43.58856183910906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1880.039975881951,
+            1558.0933709587323,
+            43.58856183910906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1878.539975881951,
+            1555.495294747379,
+            43.58856183910906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1877.039975881951,
+            1552.8972185360255,
+            43.58856183910906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1875.539975881951,
+            1550.2991423246722,
+            43.58856183910906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1874.039975881951,
+            1547.7010661133188,
+            43.58856183910906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1872.539975881951,
+            1545.1029899019654,
+            43.58856183910906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1871.039975881951,
+            1542.504913690612,
+            43.58856183910906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1869.539975881951,
+            1539.9068374792587,
+            43.58856183910906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            1868.039975881951,
+            1537.3087612679053,
+            43.58856183910906
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            1868.039975881951,
+            1537.3087612679053,
+            43.58856183910906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            1865.4418996705976,
+            1535.8087612679053,
+            43.58856183910906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            1862.8438234592443,
+            1534.3087612679053,
+            43.58856183910906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            1860.245747247891,
+            1532.8087612679053,
+            43.58856183910906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            1857.6476710365375,
+            1531.3087612679053,
+            43.58856183910906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            1855.0495948251842,
+            1529.8087612679053,
+            43.58856183910906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            1852.4515186138308,
+            1528.3087612679053,
+            43.58856183910906
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            1849.8534424024774,
+            1526.8087612679053,
+            43.58856183910906
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            1849.8534424024774,
+            1526.8087612679053,
+            40.58856183910906
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            1849.8534424024774,
+            1526.8087612679053,
+            37.58856183910906
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            1849.8534424024774,
+            1526.8087612679053,
+            34.58856183910906
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            1849.8534424024774,
+            1526.8087612679053,
+            31.58856183910906
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            1849.8534424024774,
+            1526.8087612679053,
+            28.58856183910906
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            1849.8534424024774,
+            1526.8087612679053,
+            25.58856183910906
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            1849.8534424024774,
+            1526.8087612679053,
+            22.58856183910906
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            1849.8534424024774,
+            1526.8087612679053,
+            19.58856183910906
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            1849.8534424024774,
+            1526.8087612679053,
+            16.58856183910906
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            1849.8534424024774,
+            1526.8087612679053,
+            13.588561839109062
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            1849.8534424024774,
+            1526.8087612679053,
+            10.588561839109062
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            1849.8534424024774,
+            1526.8087612679053,
+            7.588561839109062
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            1849.8534424024774,
+            1526.8087612679053,
+            4.588561839109062
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            1849.8534424024774,
+            1526.8087612679053,
+            1.5885618391090617
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "tall with multiple windows",
+        "position": [
+            1830.1046900000001,
+            1499.5159400000002,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_22-36-46_1477171087/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_22-36-46_1477171087/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..66eaa130d2f95f759aeb760801b39c440d35f72a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_22-36-46_1477171087/pose.jsonl
@@ -0,0 +1,886 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1977.2517433940052,
+            1195.1059007075528,
+            0.8272675763496693
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1977.2517433940052,
+            1195.1059007075528,
+            3.8272675763496693
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1977.2517433940052,
+            1195.1059007075528,
+            6.827267576349669
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1977.2517433940052,
+            1195.1059007075528,
+            9.82726757634967
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1977.2517433940052,
+            1195.1059007075528,
+            12.82726757634967
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1977.2517433940052,
+            1195.1059007075528,
+            15.82726757634967
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1977.2517433940052,
+            1195.1059007075528,
+            18.82726757634967
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1977.2517433940052,
+            1195.1059007075528,
+            21.82726757634967
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1977.2517433940052,
+            1195.1059007075528,
+            24.82726757634967
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1977.2517433940052,
+            1195.1059007075528,
+            27.82726757634967
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1977.2517433940052,
+            1195.1059007075528,
+            30.82726757634967
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1977.2517433940052,
+            1195.1059007075528,
+            33.82726757634967
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1977.2517433940052,
+            1195.1059007075528,
+            36.82726757634967
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1977.2517433940052,
+            1195.1059007075528,
+            39.82726757634967
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1977.2517433940052,
+            1195.1059007075528,
+            42.82726757634967
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1977.2517433940052,
+            1195.1059007075528,
+            45.82726757634967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1974.2517433940052,
+            1195.1059007075528,
+            45.82726757634967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1971.2517433940052,
+            1195.1059007075528,
+            45.82726757634967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1968.2517433940052,
+            1195.1059007075528,
+            45.82726757634967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1965.2517433940052,
+            1195.1059007075528,
+            45.82726757634967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1962.2517433940052,
+            1195.1059007075528,
+            45.82726757634967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1959.2517433940052,
+            1195.1059007075528,
+            45.82726757634967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1956.2517433940052,
+            1195.1059007075528,
+            45.82726757634967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1953.2517433940052,
+            1195.1059007075528,
+            45.82726757634967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1950.2517433940052,
+            1195.1059007075528,
+            45.82726757634967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1947.2517433940052,
+            1195.1059007075528,
+            45.82726757634967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1944.2517433940052,
+            1195.1059007075528,
+            45.82726757634967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1941.2517433940052,
+            1195.1059007075528,
+            45.82726757634967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1938.2517433940052,
+            1195.1059007075528,
+            45.82726757634967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1935.2517433940052,
+            1195.1059007075528,
+            45.82726757634967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1932.2517433940052,
+            1195.1059007075528,
+            45.82726757634967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1929.2517433940052,
+            1195.1059007075528,
+            45.82726757634967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1926.2517433940052,
+            1195.1059007075528,
+            45.82726757634967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1923.2517433940052,
+            1195.1059007075528,
+            45.82726757634967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1920.2517433940052,
+            1195.1059007075528,
+            45.82726757634967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1917.2517433940052,
+            1195.1059007075528,
+            45.82726757634967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1914.2517433940052,
+            1195.1059007075528,
+            45.82726757634967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1911.2517433940052,
+            1195.1059007075528,
+            45.82726757634967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1908.2517433940052,
+            1195.1059007075528,
+            45.82726757634967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1905.2517433940052,
+            1195.1059007075528,
+            45.82726757634967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1902.2517433940052,
+            1195.1059007075528,
+            45.82726757634967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1899.2517433940052,
+            1195.1059007075528,
+            45.82726757634967
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1899.2517433940052,
+            1195.1059007075528,
+            45.82726757634967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1896.6536671826518,
+            1196.6059007075528,
+            45.82726757634967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1894.0555909712984,
+            1198.1059007075528,
+            45.82726757634967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1891.457514759945,
+            1199.6059007075528,
+            45.82726757634967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1888.8594385485917,
+            1201.1059007075528,
+            45.82726757634967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1886.2613623372383,
+            1202.6059007075528,
+            45.82726757634967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1883.663286125885,
+            1204.1059007075528,
+            45.82726757634967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1881.0652099145316,
+            1205.6059007075528,
+            45.82726757634967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1878.4671337031782,
+            1207.1059007075528,
+            45.82726757634967
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            1875.8690574918248,
+            1208.6059007075528,
+            45.82726757634967
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            1875.8690574918248,
+            1208.6059007075528,
+            42.82726757634967
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            1875.8690574918248,
+            1208.6059007075528,
+            39.82726757634967
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            1875.8690574918248,
+            1208.6059007075528,
+            36.82726757634967
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            1875.8690574918248,
+            1208.6059007075528,
+            33.82726757634967
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            1875.8690574918248,
+            1208.6059007075528,
+            30.82726757634967
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            1875.8690574918248,
+            1208.6059007075528,
+            27.82726757634967
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            1875.8690574918248,
+            1208.6059007075528,
+            24.82726757634967
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            1875.8690574918248,
+            1208.6059007075528,
+            21.82726757634967
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            1875.8690574918248,
+            1208.6059007075528,
+            18.82726757634967
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            1875.8690574918248,
+            1208.6059007075528,
+            15.82726757634967
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            1875.8690574918248,
+            1208.6059007075528,
+            12.82726757634967
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            1875.8690574918248,
+            1208.6059007075528,
+            9.82726757634967
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            1875.8690574918248,
+            1208.6059007075528,
+            6.827267576349669
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            1875.8690574918248,
+            1208.6059007075528,
+            3.8272675763496693
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            1875.8690574918248,
+            1208.6059007075528,
+            0.8272675763496693
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "ornate facade",
+        "position": [
+            1804.6875,
+            1219.9001600000001,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_0-47-18_112805732/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_0-47-18_112805732/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f5e58d870d0d28b188647f849581874fa3f1b1ac
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_0-47-18_112805732/pose.jsonl
@@ -0,0 +1,444 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1348.3503354608772,
+            1122.1885723607875,
+            1.3812276989284271
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1348.3503354608772,
+            1122.1885723607875,
+            4.381227698928427
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1348.3503354608772,
+            1122.1885723607875,
+            7.381227698928427
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1348.3503354608772,
+            1122.1885723607875,
+            10.381227698928427
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1348.3503354608772,
+            1122.1885723607875,
+            13.381227698928427
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1348.3503354608772,
+            1122.1885723607875,
+            16.381227698928427
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1348.3503354608772,
+            1122.1885723607875,
+            19.381227698928427
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1348.3503354608772,
+            1122.1885723607875,
+            22.381227698928427
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1348.3503354608772,
+            1122.1885723607875,
+            25.381227698928427
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1348.3503354608772,
+            1122.1885723607875,
+            28.381227698928427
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1348.3503354608772,
+            1122.1885723607875,
+            31.381227698928427
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1348.3503354608772,
+            1122.1885723607875,
+            34.38122769892843
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1348.3503354608772,
+            1122.1885723607875,
+            37.38122769892843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1346.8503354608772,
+            1124.7866485721408,
+            37.38122769892843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1345.3503354608772,
+            1127.3847247834942,
+            37.38122769892843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1343.8503354608772,
+            1129.9828009948476,
+            37.38122769892843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1342.3503354608772,
+            1132.580877206201,
+            37.38122769892843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1340.8503354608772,
+            1135.1789534175543,
+            37.38122769892843
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1340.8503354608772,
+            1135.1789534175543,
+            37.38122769892843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1338.2522592495238,
+            1136.6789534175543,
+            37.38122769892843
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1335.6541830381705,
+            1138.1789534175543,
+            37.38122769892843
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1335.6541830381705,
+            1138.1789534175543,
+            34.38122769892843
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1335.6541830381705,
+            1138.1789534175543,
+            31.381227698928427
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1335.6541830381705,
+            1138.1789534175543,
+            28.381227698928427
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1335.6541830381705,
+            1138.1789534175543,
+            25.381227698928427
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1335.6541830381705,
+            1138.1789534175543,
+            22.381227698928427
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1335.6541830381705,
+            1138.1789534175543,
+            19.381227698928427
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1335.6541830381705,
+            1138.1789534175543,
+            16.381227698928427
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1335.6541830381705,
+            1138.1789534175543,
+            13.381227698928427
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1335.6541830381705,
+            1138.1789534175543,
+            10.381227698928427
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1335.6541830381705,
+            1138.1789534175543,
+            7.381227698928427
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1335.6541830381705,
+            1138.1789534175543,
+            4.381227698928427
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1335.6541830381705,
+            1138.1789534175543,
+            1.3812276989284271
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "red",
+        "feature": "ornate facade",
+        "position": [
+            -1246.85891,
+            1244.14734,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_1-38-5_338888228/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_1-38-5_338888228/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a7d0d91327fd75631782c4ed0bc474b134a08e21
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_1-38-5_338888228/pose.jsonl
@@ -0,0 +1,613 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1878.6679383338385,
+            1101.4877387778056,
+            1.887066974591363
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1878.6679383338385,
+            1101.4877387778056,
+            4.887066974591363
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1878.6679383338385,
+            1101.4877387778056,
+            7.887066974591363
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1878.6679383338385,
+            1101.4877387778056,
+            10.887066974591363
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1878.6679383338385,
+            1101.4877387778056,
+            13.887066974591363
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1878.6679383338385,
+            1101.4877387778056,
+            16.887066974591363
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1878.6679383338385,
+            1101.4877387778056,
+            19.887066974591363
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1878.6679383338385,
+            1101.4877387778056,
+            22.887066974591363
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1878.6679383338385,
+            1101.4877387778056,
+            25.887066974591363
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1878.6679383338385,
+            1101.4877387778056,
+            28.887066974591363
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1878.6679383338385,
+            1101.4877387778056,
+            31.887066974591363
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1878.6679383338385,
+            1101.4877387778056,
+            34.88706697459136
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1878.6679383338385,
+            1101.4877387778056,
+            37.88706697459136
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1878.6679383338385,
+            1101.4877387778056,
+            40.88706697459136
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1878.6679383338385,
+            1101.4877387778056,
+            43.88706697459136
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1878.6679383338385,
+            1101.4877387778056,
+            46.88706697459136
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1878.6679383338385,
+            1101.4877387778056,
+            49.88706697459136
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1876.0698621224851,
+            1099.9877387778056,
+            49.88706697459136
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1873.4717859111317,
+            1098.4877387778056,
+            49.88706697459136
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1870.8737096997784,
+            1096.9877387778056,
+            49.88706697459136
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1868.275633488425,
+            1095.4877387778056,
+            49.88706697459136
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1865.6775572770716,
+            1093.9877387778056,
+            49.88706697459136
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1863.0794810657183,
+            1092.4877387778056,
+            49.88706697459136
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1860.4814048543649,
+            1090.9877387778056,
+            49.88706697459136
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1857.8833286430115,
+            1089.4877387778056,
+            49.88706697459136
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1855.2852524316581,
+            1087.9877387778056,
+            49.88706697459136
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1855.2852524316581,
+            1087.9877387778056,
+            49.88706697459136
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1852.2852524316581,
+            1087.9877387778056,
+            49.88706697459136
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1849.2852524316581,
+            1087.9877387778056,
+            49.88706697459136
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1846.2852524316581,
+            1087.9877387778056,
+            49.88706697459136
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1846.2852524316581,
+            1087.9877387778056,
+            46.88706697459136
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1846.2852524316581,
+            1087.9877387778056,
+            43.88706697459136
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1846.2852524316581,
+            1087.9877387778056,
+            40.88706697459136
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1846.2852524316581,
+            1087.9877387778056,
+            37.88706697459136
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1846.2852524316581,
+            1087.9877387778056,
+            34.88706697459136
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1846.2852524316581,
+            1087.9877387778056,
+            31.887066974591363
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1846.2852524316581,
+            1087.9877387778056,
+            28.887066974591363
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1846.2852524316581,
+            1087.9877387778056,
+            25.887066974591363
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1846.2852524316581,
+            1087.9877387778056,
+            22.887066974591363
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1846.2852524316581,
+            1087.9877387778056,
+            19.887066974591363
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1846.2852524316581,
+            1087.9877387778056,
+            16.887066974591363
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1846.2852524316581,
+            1087.9877387778056,
+            13.887066974591363
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1846.2852524316581,
+            1087.9877387778056,
+            10.887066974591363
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1846.2852524316581,
+            1087.9877387778056,
+            7.887066974591363
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1846.2852524316581,
+            1087.9877387778056,
+            4.887066974591363
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1846.2852524316581,
+            1087.9877387778056,
+            1.887066974591363
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "ornate detailing",
+        "position": [
+            1720.15328,
+            1042.3498399999999,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_10-40-9_364686248/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_10-40-9_364686248/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1ccdf86f926e802b50de798f53b2fa8cc713a68a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_10-40-9_364686248/pose.jsonl
@@ -0,0 +1,522 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1914.9005371032945,
+            758.4742319365392,
+            2.8863369890548753
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1914.9005371032945,
+            758.4742319365392,
+            5.886336989054875
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1914.9005371032945,
+            758.4742319365392,
+            8.886336989054875
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1914.9005371032945,
+            758.4742319365392,
+            11.886336989054875
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1914.9005371032945,
+            758.4742319365392,
+            14.886336989054875
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1914.9005371032945,
+            758.4742319365392,
+            17.886336989054875
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1914.9005371032945,
+            758.4742319365392,
+            20.886336989054875
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1914.9005371032945,
+            758.4742319365392,
+            23.886336989054875
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1914.9005371032945,
+            758.4742319365392,
+            26.886336989054875
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1914.9005371032945,
+            758.4742319365392,
+            29.886336989054875
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1914.9005371032945,
+            758.4742319365392,
+            32.886336989054875
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1914.9005371032945,
+            758.4742319365392,
+            35.886336989054875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1911.9005371032945,
+            758.4742319365392,
+            35.886336989054875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1908.9005371032945,
+            758.4742319365392,
+            35.886336989054875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1905.9005371032945,
+            758.4742319365392,
+            35.886336989054875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1902.9005371032945,
+            758.4742319365392,
+            35.886336989054875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1899.9005371032945,
+            758.4742319365392,
+            35.886336989054875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1896.9005371032945,
+            758.4742319365392,
+            35.886336989054875
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1896.9005371032945,
+            758.4742319365392,
+            35.886336989054875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1894.302460891941,
+            756.9742319365392,
+            35.886336989054875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1891.7043846805877,
+            755.4742319365392,
+            35.886336989054875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1889.1063084692344,
+            753.9742319365392,
+            35.886336989054875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1886.508232257881,
+            752.4742319365392,
+            35.886336989054875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1883.9101560465276,
+            750.9742319365392,
+            35.886336989054875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1881.3120798351742,
+            749.4742319365392,
+            35.886336989054875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1878.7140036238209,
+            747.9742319365392,
+            35.886336989054875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1876.1159274124675,
+            746.4742319365392,
+            35.886336989054875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1873.5178512011141,
+            744.9742319365392,
+            35.886336989054875
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1873.5178512011141,
+            744.9742319365392,
+            32.886336989054875
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1873.5178512011141,
+            744.9742319365392,
+            29.886336989054875
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1873.5178512011141,
+            744.9742319365392,
+            26.886336989054875
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1873.5178512011141,
+            744.9742319365392,
+            23.886336989054875
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1873.5178512011141,
+            744.9742319365392,
+            20.886336989054875
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1873.5178512011141,
+            744.9742319365392,
+            17.886336989054875
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1873.5178512011141,
+            744.9742319365392,
+            14.886336989054875
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1873.5178512011141,
+            744.9742319365392,
+            11.886336989054875
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1873.5178512011141,
+            744.9742319365392,
+            8.886336989054875
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1873.5178512011141,
+            744.9742319365392,
+            5.886336989054875
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1873.5178512011141,
+            744.9742319365392,
+            2.8863369890548753
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "ornate facade",
+        "position": [
+            1765.56656,
+            716.53156,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_10-44-10_1129033333/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_10-44-10_1129033333/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3dd89814eb6d6debcab65c9159d47183da06be9b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_10-44-10_1129033333/pose.jsonl
@@ -0,0 +1,1094 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1967.7522005895185,
+            684.4187446480338,
+            0.6727216449508759
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1967.7522005895185,
+            684.4187446480338,
+            3.672721644950876
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1967.7522005895185,
+            684.4187446480338,
+            6.672721644950876
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1967.7522005895185,
+            684.4187446480338,
+            9.672721644950876
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1967.7522005895185,
+            684.4187446480338,
+            12.672721644950876
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1967.7522005895185,
+            684.4187446480338,
+            15.672721644950876
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1967.7522005895185,
+            684.4187446480338,
+            18.672721644950876
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1967.7522005895185,
+            684.4187446480338,
+            21.672721644950876
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1967.7522005895185,
+            684.4187446480338,
+            24.672721644950876
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1967.7522005895185,
+            684.4187446480338,
+            27.672721644950876
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1967.7522005895185,
+            684.4187446480338,
+            30.672721644950876
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1967.7522005895185,
+            684.4187446480338,
+            33.672721644950876
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1967.7522005895185,
+            684.4187446480338,
+            36.672721644950876
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1967.7522005895185,
+            684.4187446480338,
+            39.672721644950876
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1967.7522005895185,
+            684.4187446480338,
+            42.672721644950876
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1967.7522005895185,
+            684.4187446480338,
+            45.672721644950876
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1967.7522005895185,
+            684.4187446480338,
+            48.672721644950876
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1967.7522005895185,
+            684.4187446480338,
+            51.672721644950876
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1967.7522005895185,
+            684.4187446480338,
+            54.672721644950876
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1967.7522005895185,
+            684.4187446480338,
+            57.672721644950876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1964.7522005895185,
+            684.4187446480338,
+            57.672721644950876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1961.7522005895185,
+            684.4187446480338,
+            57.672721644950876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1958.7522005895185,
+            684.4187446480338,
+            57.672721644950876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1955.7522005895185,
+            684.4187446480338,
+            57.672721644950876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1952.7522005895185,
+            684.4187446480338,
+            57.672721644950876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1949.7522005895185,
+            684.4187446480338,
+            57.672721644950876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1946.7522005895185,
+            684.4187446480338,
+            57.672721644950876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1943.7522005895185,
+            684.4187446480338,
+            57.672721644950876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1940.7522005895185,
+            684.4187446480338,
+            57.672721644950876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1937.7522005895185,
+            684.4187446480338,
+            57.672721644950876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1934.7522005895185,
+            684.4187446480338,
+            57.672721644950876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1931.7522005895185,
+            684.4187446480338,
+            57.672721644950876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1928.7522005895185,
+            684.4187446480338,
+            57.672721644950876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1925.7522005895185,
+            684.4187446480338,
+            57.672721644950876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1922.7522005895185,
+            684.4187446480338,
+            57.672721644950876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1919.7522005895185,
+            684.4187446480338,
+            57.672721644950876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1916.7522005895185,
+            684.4187446480338,
+            57.672721644950876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1913.7522005895185,
+            684.4187446480338,
+            57.672721644950876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1910.7522005895185,
+            684.4187446480338,
+            57.672721644950876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1907.7522005895185,
+            684.4187446480338,
+            57.672721644950876
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1907.7522005895185,
+            684.4187446480338,
+            57.672721644950876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1905.154124378165,
+            685.9187446480338,
+            57.672721644950876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -1902.5560481668117,
+            687.4187446480338,
+            57.672721644950876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -1899.9579719554583,
+            688.9187446480338,
+            57.672721644950876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -1897.359895744105,
+            690.4187446480338,
+            57.672721644950876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -1894.7618195327516,
+            691.9187446480338,
+            57.672721644950876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -1892.1637433213982,
+            693.4187446480338,
+            57.672721644950876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -1889.5656671100448,
+            694.9187446480338,
+            57.672721644950876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -1886.9675908986915,
+            696.4187446480338,
+            57.672721644950876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -1884.369514687338,
+            697.9187446480338,
+            57.672721644950876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -1881.7714384759847,
+            699.4187446480338,
+            57.672721644950876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -1879.1733622646314,
+            700.9187446480338,
+            57.672721644950876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -1876.575286053278,
+            702.4187446480338,
+            57.672721644950876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -1873.9772098419246,
+            703.9187446480338,
+            57.672721644950876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -1871.3791336305712,
+            705.4187446480338,
+            57.672721644950876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -1868.7810574192179,
+            706.9187446480338,
+            57.672721644950876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -1866.1829812078645,
+            708.4187446480338,
+            57.672721644950876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -1863.584904996511,
+            709.9187446480338,
+            57.672721644950876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -1860.9868287851577,
+            711.4187446480338,
+            57.672721644950876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            -1858.3887525738044,
+            712.9187446480338,
+            57.672721644950876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            -1855.790676362451,
+            714.4187446480338,
+            57.672721644950876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            -1853.1926001510976,
+            715.9187446480338,
+            57.672721644950876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            -1850.5945239397442,
+            717.4187446480338,
+            57.672721644950876
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            -1847.9964477283909,
+            718.9187446480338,
+            57.672721644950876
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            -1847.9964477283909,
+            718.9187446480338,
+            54.672721644950876
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            -1847.9964477283909,
+            718.9187446480338,
+            51.672721644950876
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            -1847.9964477283909,
+            718.9187446480338,
+            48.672721644950876
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            -1847.9964477283909,
+            718.9187446480338,
+            45.672721644950876
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            -1847.9964477283909,
+            718.9187446480338,
+            42.672721644950876
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            -1847.9964477283909,
+            718.9187446480338,
+            39.672721644950876
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            -1847.9964477283909,
+            718.9187446480338,
+            36.672721644950876
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            -1847.9964477283909,
+            718.9187446480338,
+            33.672721644950876
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            -1847.9964477283909,
+            718.9187446480338,
+            30.672721644950876
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            -1847.9964477283909,
+            718.9187446480338,
+            27.672721644950876
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            -1847.9964477283909,
+            718.9187446480338,
+            24.672721644950876
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            -1847.9964477283909,
+            718.9187446480338,
+            21.672721644950876
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            -1847.9964477283909,
+            718.9187446480338,
+            18.672721644950876
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            -1847.9964477283909,
+            718.9187446480338,
+            15.672721644950876
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            -1847.9964477283909,
+            718.9187446480338,
+            12.672721644950876
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            -1847.9964477283909,
+            718.9187446480338,
+            9.672721644950876
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            -1847.9964477283909,
+            718.9187446480338,
+            6.672721644950876
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 81,
+        "pos": [
+            -1847.9964477283909,
+            718.9187446480338,
+            3.672721644950876
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 82,
+        "pos": [
+            -1847.9964477283909,
+            718.9187446480338,
+            0.6727216449508759
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "beige",
+        "feature": "glass windows",
+        "position": [
+            -1794.76312,
+            732.44406,
+            0.0
+        ],
+        "shape": "cylindrical",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_10-47-11_1329132133/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_10-47-11_1329132133/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b0d54ed20027682e71d31d65d7ca7af98508cda3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_10-47-11_1329132133/pose.jsonl
@@ -0,0 +1,574 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1346.0612106947908,
+            1187.4249077306358,
+            1.2066426554167293
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1346.0612106947908,
+            1187.4249077306358,
+            4.206642655416729
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1346.0612106947908,
+            1187.4249077306358,
+            7.206642655416729
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1346.0612106947908,
+            1187.4249077306358,
+            10.20664265541673
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1346.0612106947908,
+            1187.4249077306358,
+            13.20664265541673
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1346.0612106947908,
+            1187.4249077306358,
+            16.20664265541673
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1346.0612106947908,
+            1187.4249077306358,
+            19.20664265541673
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1346.0612106947908,
+            1187.4249077306358,
+            22.20664265541673
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1346.0612106947908,
+            1187.4249077306358,
+            25.20664265541673
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1346.0612106947908,
+            1187.4249077306358,
+            28.20664265541673
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1346.0612106947908,
+            1187.4249077306358,
+            31.20664265541673
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1346.0612106947908,
+            1187.4249077306358,
+            34.20664265541673
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1346.0612106947908,
+            1187.4249077306358,
+            37.20664265541673
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1346.0612106947908,
+            1187.4249077306358,
+            40.20664265541673
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1346.0612106947908,
+            1187.4249077306358,
+            43.20664265541673
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1346.0612106947908,
+            1187.4249077306358,
+            46.20664265541673
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1346.0612106947908,
+            1187.4249077306358,
+            49.20664265541673
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1346.0612106947908,
+            1187.4249077306358,
+            52.20664265541673
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1346.0612106947908,
+            1187.4249077306358,
+            55.20664265541673
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1346.0612106947908,
+            1187.4249077306358,
+            58.20664265541673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1347.5612106947908,
+            1190.0229839419892,
+            58.20664265541673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1349.0612106947908,
+            1192.6210601533426,
+            58.20664265541673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1350.5612106947908,
+            1195.219136364696,
+            58.20664265541673
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1352.0612106947908,
+            1197.8172125760493,
+            58.20664265541673
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1352.0612106947908,
+            1197.8172125760493,
+            55.20664265541673
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1352.0612106947908,
+            1197.8172125760493,
+            52.20664265541673
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1352.0612106947908,
+            1197.8172125760493,
+            49.20664265541673
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1352.0612106947908,
+            1197.8172125760493,
+            46.20664265541673
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1352.0612106947908,
+            1197.8172125760493,
+            43.20664265541673
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1352.0612106947908,
+            1197.8172125760493,
+            40.20664265541673
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1352.0612106947908,
+            1197.8172125760493,
+            37.20664265541673
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1352.0612106947908,
+            1197.8172125760493,
+            34.20664265541673
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1352.0612106947908,
+            1197.8172125760493,
+            31.20664265541673
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1352.0612106947908,
+            1197.8172125760493,
+            28.20664265541673
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1352.0612106947908,
+            1197.8172125760493,
+            25.20664265541673
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1352.0612106947908,
+            1197.8172125760493,
+            22.20664265541673
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1352.0612106947908,
+            1197.8172125760493,
+            19.20664265541673
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1352.0612106947908,
+            1197.8172125760493,
+            16.20664265541673
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1352.0612106947908,
+            1197.8172125760493,
+            13.20664265541673
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1352.0612106947908,
+            1197.8172125760493,
+            10.20664265541673
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1352.0612106947908,
+            1197.8172125760493,
+            7.206642655416729
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1352.0612106947908,
+            1197.8172125760493,
+            4.206642655416729
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -1352.0612106947908,
+            1197.8172125760493,
+            1.2066426554167293
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "red",
+        "feature": "arched windows",
+        "position": [
+            -1438.35344,
+            1325.5946900000001,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-21-28_820697697/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-21-28_820697697/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..48b8c1896d78e0c7e577deb015a3798e16dc118a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-21-28_820697697/pose.jsonl
@@ -0,0 +1,925 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -761.8669586224698,
+            1147.7526839236884,
+            0.45885904157607627
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -761.8669586224698,
+            1147.7526839236884,
+            3.4588590415760763
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -761.8669586224698,
+            1147.7526839236884,
+            6.458859041576076
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -761.8669586224698,
+            1147.7526839236884,
+            9.458859041576076
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -761.8669586224698,
+            1147.7526839236884,
+            12.458859041576076
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -761.8669586224698,
+            1147.7526839236884,
+            15.458859041576076
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -761.8669586224698,
+            1147.7526839236884,
+            18.458859041576076
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -761.8669586224698,
+            1147.7526839236884,
+            21.458859041576076
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -761.8669586224698,
+            1147.7526839236884,
+            24.458859041576076
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -761.8669586224698,
+            1147.7526839236884,
+            27.458859041576076
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -761.8669586224698,
+            1147.7526839236884,
+            30.458859041576076
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -761.8669586224698,
+            1147.7526839236884,
+            33.458859041576076
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -761.8669586224698,
+            1147.7526839236884,
+            36.458859041576076
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -761.8669586224698,
+            1147.7526839236884,
+            39.458859041576076
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -761.8669586224698,
+            1147.7526839236884,
+            42.458859041576076
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -761.8669586224698,
+            1147.7526839236884,
+            45.458859041576076
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -761.8669586224698,
+            1147.7526839236884,
+            48.458859041576076
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -761.8669586224698,
+            1147.7526839236884,
+            51.458859041576076
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -761.8669586224698,
+            1147.7526839236884,
+            54.458859041576076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -760.3669586224698,
+            1145.154607712335,
+            54.458859041576076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -758.8669586224698,
+            1142.5565315009817,
+            54.458859041576076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -757.3669586224698,
+            1139.9584552896283,
+            54.458859041576076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -755.8669586224698,
+            1137.360379078275,
+            54.458859041576076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -754.3669586224698,
+            1134.7623028669216,
+            54.458859041576076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -752.8669586224698,
+            1132.1642266555682,
+            54.458859041576076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -751.3669586224698,
+            1129.5661504442148,
+            54.458859041576076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -749.8669586224698,
+            1126.9680742328615,
+            54.458859041576076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -748.3669586224698,
+            1124.369998021508,
+            54.458859041576076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -746.8669586224698,
+            1121.7719218101547,
+            54.458859041576076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -745.3669586224698,
+            1119.1738455988013,
+            54.458859041576076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -743.8669586224698,
+            1116.575769387448,
+            54.458859041576076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -742.3669586224698,
+            1113.9776931760946,
+            54.458859041576076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -740.8669586224698,
+            1111.3796169647412,
+            54.458859041576076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -739.3669586224698,
+            1108.7815407533878,
+            54.458859041576076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -737.8669586224698,
+            1106.1834645420345,
+            54.458859041576076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -736.3669586224698,
+            1103.585388330681,
+            54.458859041576076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -734.8669586224698,
+            1100.9873121193277,
+            54.458859041576076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -733.3669586224698,
+            1098.3892359079744,
+            54.458859041576076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -731.8669586224698,
+            1095.791159696621,
+            54.458859041576076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -730.3669586224698,
+            1093.1930834852676,
+            54.458859041576076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -728.8669586224698,
+            1090.5950072739142,
+            54.458859041576076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -727.3669586224698,
+            1087.9969310625609,
+            54.458859041576076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -725.8669586224698,
+            1085.3988548512075,
+            54.458859041576076
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -725.8669586224698,
+            1085.3988548512075,
+            54.458859041576076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -725.8669586224698,
+            1082.3988548512075,
+            54.458859041576076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -725.8669586224698,
+            1079.3988548512075,
+            54.458859041576076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -725.8669586224698,
+            1076.3988548512075,
+            54.458859041576076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -725.8669586224698,
+            1073.3988548512075,
+            54.458859041576076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -725.8669586224698,
+            1070.3988548512075,
+            54.458859041576076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -725.8669586224698,
+            1067.3988548512075,
+            54.458859041576076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -725.8669586224698,
+            1064.3988548512075,
+            54.458859041576076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -725.8669586224698,
+            1061.3988548512075,
+            54.458859041576076
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -725.8669586224698,
+            1061.3988548512075,
+            51.458859041576076
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -725.8669586224698,
+            1061.3988548512075,
+            48.458859041576076
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -725.8669586224698,
+            1061.3988548512075,
+            45.458859041576076
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -725.8669586224698,
+            1061.3988548512075,
+            42.458859041576076
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -725.8669586224698,
+            1061.3988548512075,
+            39.458859041576076
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -725.8669586224698,
+            1061.3988548512075,
+            36.458859041576076
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -725.8669586224698,
+            1061.3988548512075,
+            33.458859041576076
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            -725.8669586224698,
+            1061.3988548512075,
+            30.458859041576076
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            -725.8669586224698,
+            1061.3988548512075,
+            27.458859041576076
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            -725.8669586224698,
+            1061.3988548512075,
+            24.458859041576076
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            -725.8669586224698,
+            1061.3988548512075,
+            21.458859041576076
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            -725.8669586224698,
+            1061.3988548512075,
+            18.458859041576076
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            -725.8669586224698,
+            1061.3988548512075,
+            15.458859041576076
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            -725.8669586224698,
+            1061.3988548512075,
+            12.458859041576076
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            -725.8669586224698,
+            1061.3988548512075,
+            9.458859041576076
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            -725.8669586224698,
+            1061.3988548512075,
+            6.458859041576076
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            -725.8669586224698,
+            1061.3988548512075,
+            3.4588590415760763
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            -725.8669586224698,
+            1061.3988548512075,
+            0.45885904157607627
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "red",
+        "feature": "ornate facade",
+        "position": [
+            -692.57906,
+            983.66102,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_14-51-56_1411328205/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_14-51-56_1411328205/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6376b3b00924ab758f8c47a5ee65e43eda5b3224
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_14-51-56_1411328205/pose.jsonl
@@ -0,0 +1,665 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -804.2360566219775,
+            1159.833465431057,
+            2.9224304896502034
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -804.2360566219775,
+            1159.833465431057,
+            5.922430489650203
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -804.2360566219775,
+            1159.833465431057,
+            8.922430489650203
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -804.2360566219775,
+            1159.833465431057,
+            11.922430489650203
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -804.2360566219775,
+            1159.833465431057,
+            14.922430489650203
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -804.2360566219775,
+            1159.833465431057,
+            17.922430489650203
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -804.2360566219775,
+            1159.833465431057,
+            20.922430489650203
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -804.2360566219775,
+            1159.833465431057,
+            23.922430489650203
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -804.2360566219775,
+            1159.833465431057,
+            26.922430489650203
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -804.2360566219775,
+            1159.833465431057,
+            29.922430489650203
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -804.2360566219775,
+            1159.833465431057,
+            32.9224304896502
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -804.2360566219775,
+            1159.833465431057,
+            35.9224304896502
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -804.2360566219775,
+            1159.833465431057,
+            38.9224304896502
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -804.2360566219775,
+            1159.833465431057,
+            41.9224304896502
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -804.2360566219775,
+            1159.833465431057,
+            44.9224304896502
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -804.2360566219775,
+            1159.833465431057,
+            47.9224304896502
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -804.2360566219775,
+            1159.833465431057,
+            50.9224304896502
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -804.2360566219775,
+            1159.833465431057,
+            53.9224304896502
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -804.2360566219775,
+            1159.833465431057,
+            56.9224304896502
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -804.2360566219775,
+            1159.833465431057,
+            59.9224304896502
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -804.2360566219775,
+            1162.833465431057,
+            59.9224304896502
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -804.2360566219775,
+            1165.833465431057,
+            59.9224304896502
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -804.2360566219775,
+            1168.833465431057,
+            59.9224304896502
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -804.2360566219775,
+            1171.833465431057,
+            59.9224304896502
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -804.2360566219775,
+            1174.833465431057,
+            59.9224304896502
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -804.2360566219775,
+            1177.833465431057,
+            59.9224304896502
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -804.2360566219775,
+            1180.833465431057,
+            59.9224304896502
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -804.2360566219775,
+            1183.833465431057,
+            59.9224304896502
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -804.2360566219775,
+            1186.833465431057,
+            59.9224304896502
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -804.2360566219775,
+            1186.833465431057,
+            59.9224304896502
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -802.7360566219775,
+            1189.4315416424104,
+            59.9224304896502
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -802.7360566219775,
+            1189.4315416424104,
+            56.9224304896502
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -802.7360566219775,
+            1189.4315416424104,
+            53.9224304896502
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -802.7360566219775,
+            1189.4315416424104,
+            50.9224304896502
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -802.7360566219775,
+            1189.4315416424104,
+            47.9224304896502
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -802.7360566219775,
+            1189.4315416424104,
+            44.9224304896502
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -802.7360566219775,
+            1189.4315416424104,
+            41.9224304896502
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -802.7360566219775,
+            1189.4315416424104,
+            38.9224304896502
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -802.7360566219775,
+            1189.4315416424104,
+            35.9224304896502
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -802.7360566219775,
+            1189.4315416424104,
+            32.9224304896502
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -802.7360566219775,
+            1189.4315416424104,
+            29.922430489650203
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -802.7360566219775,
+            1189.4315416424104,
+            26.922430489650203
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -802.7360566219775,
+            1189.4315416424104,
+            23.922430489650203
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -802.7360566219775,
+            1189.4315416424104,
+            20.922430489650203
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -802.7360566219775,
+            1189.4315416424104,
+            17.922430489650203
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -802.7360566219775,
+            1189.4315416424104,
+            14.922430489650203
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -802.7360566219775,
+            1189.4315416424104,
+            11.922430489650203
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -802.7360566219775,
+            1189.4315416424104,
+            8.922430489650203
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -802.7360566219775,
+            1189.4315416424104,
+            5.922430489650203
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -802.7360566219775,
+            1189.4315416424104,
+            2.9224304896502034
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "classical architectural elements",
+        "position": [
+            -792.40477,
+            1317.47062,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_16-20-48_970925433/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_16-20-48_970925433/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a05b8c70ddd94a97684c57080edfedc8a7304d3e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_16-20-48_970925433/pose.jsonl
@@ -0,0 +1,665 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1728.804452371184,
+            95.12989282617744,
+            1.654088054611563
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1728.804452371184,
+            95.12989282617744,
+            4.654088054611563
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1728.804452371184,
+            95.12989282617744,
+            7.654088054611563
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1728.804452371184,
+            95.12989282617744,
+            10.654088054611563
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1728.804452371184,
+            95.12989282617744,
+            13.654088054611563
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1728.804452371184,
+            95.12989282617744,
+            16.654088054611563
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1728.804452371184,
+            95.12989282617744,
+            19.654088054611563
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1728.804452371184,
+            95.12989282617744,
+            22.654088054611563
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1728.804452371184,
+            95.12989282617744,
+            25.654088054611563
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1728.804452371184,
+            95.12989282617744,
+            28.654088054611563
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1728.804452371184,
+            95.12989282617744,
+            31.654088054611563
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1728.804452371184,
+            95.12989282617744,
+            34.65408805461156
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1728.804452371184,
+            95.12989282617744,
+            37.65408805461156
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1728.804452371184,
+            95.12989282617744,
+            40.65408805461156
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1728.804452371184,
+            95.12989282617744,
+            43.65408805461156
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1728.804452371184,
+            95.12989282617744,
+            46.65408805461156
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1728.804452371184,
+            95.12989282617744,
+            49.65408805461156
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1728.804452371184,
+            95.12989282617744,
+            52.65408805461156
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1728.804452371184,
+            95.12989282617744,
+            55.65408805461156
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1726.2063761598306,
+            96.62989282617744,
+            55.65408805461156
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1723.6082999484772,
+            98.12989282617744,
+            55.65408805461156
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1721.0102237371239,
+            99.62989282617744,
+            55.65408805461156
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1718.4121475257705,
+            101.12989282617744,
+            55.65408805461156
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1715.814071314417,
+            102.62989282617744,
+            55.65408805461156
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1713.2159951030637,
+            104.12989282617744,
+            55.65408805461156
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1710.6179188917104,
+            105.62989282617744,
+            55.65408805461156
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1708.019842680357,
+            107.12989282617744,
+            55.65408805461156
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1708.019842680357,
+            107.12989282617744,
+            55.65408805461156
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1706.519842680357,
+            109.72796903753076,
+            55.65408805461156
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1705.019842680357,
+            112.32604524888407,
+            55.65408805461156
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1703.519842680357,
+            114.92412146023739,
+            55.65408805461156
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1702.019842680357,
+            117.5221976715907,
+            55.65408805461156
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1702.019842680357,
+            117.5221976715907,
+            52.65408805461156
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1702.019842680357,
+            117.5221976715907,
+            49.65408805461156
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1702.019842680357,
+            117.5221976715907,
+            46.65408805461156
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1702.019842680357,
+            117.5221976715907,
+            43.65408805461156
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1702.019842680357,
+            117.5221976715907,
+            40.65408805461156
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1702.019842680357,
+            117.5221976715907,
+            37.65408805461156
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1702.019842680357,
+            117.5221976715907,
+            34.65408805461156
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1702.019842680357,
+            117.5221976715907,
+            31.654088054611563
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1702.019842680357,
+            117.5221976715907,
+            28.654088054611563
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1702.019842680357,
+            117.5221976715907,
+            25.654088054611563
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1702.019842680357,
+            117.5221976715907,
+            22.654088054611563
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1702.019842680357,
+            117.5221976715907,
+            19.654088054611563
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1702.019842680357,
+            117.5221976715907,
+            16.654088054611563
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1702.019842680357,
+            117.5221976715907,
+            13.654088054611563
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1702.019842680357,
+            117.5221976715907,
+            10.654088054611563
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1702.019842680357,
+            117.5221976715907,
+            7.654088054611563
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1702.019842680357,
+            117.5221976715907,
+            4.654088054611563
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1702.019842680357,
+            117.5221976715907,
+            1.654088054611563
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "arched windows",
+        "position": [
+            1606.775,
+            197.2916,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_2-19-22_971899228/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_2-19-22_971899228/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..77c82bbeec02da8ee636e851d3a2d37865d6f39f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_2-19-22_971899228/pose.jsonl
@@ -0,0 +1,756 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            841.7382904716096,
+            1739.360963063972,
+            0.18983441091043574
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            841.7382904716096,
+            1739.360963063972,
+            3.1898344109104357
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            841.7382904716096,
+            1739.360963063972,
+            6.189834410910436
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            841.7382904716096,
+            1739.360963063972,
+            9.189834410910436
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            841.7382904716096,
+            1739.360963063972,
+            12.189834410910436
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            841.7382904716096,
+            1739.360963063972,
+            15.189834410910436
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            841.7382904716096,
+            1739.360963063972,
+            18.189834410910436
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            841.7382904716096,
+            1739.360963063972,
+            21.189834410910436
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            841.7382904716096,
+            1739.360963063972,
+            24.189834410910436
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            841.7382904716096,
+            1739.360963063972,
+            27.189834410910436
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            841.7382904716096,
+            1739.360963063972,
+            30.189834410910436
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            841.7382904716096,
+            1739.360963063972,
+            33.189834410910436
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            841.7382904716096,
+            1739.360963063972,
+            36.189834410910436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            838.7382904716096,
+            1739.360963063972,
+            36.189834410910436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            835.7382904716096,
+            1739.360963063972,
+            36.189834410910436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            832.7382904716096,
+            1739.360963063972,
+            36.189834410910436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            829.7382904716096,
+            1739.360963063972,
+            36.189834410910436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            826.7382904716096,
+            1739.360963063972,
+            36.189834410910436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            823.7382904716096,
+            1739.360963063972,
+            36.189834410910436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            820.7382904716096,
+            1739.360963063972,
+            36.189834410910436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            817.7382904716096,
+            1739.360963063972,
+            36.189834410910436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            814.7382904716096,
+            1739.360963063972,
+            36.189834410910436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            811.7382904716096,
+            1739.360963063972,
+            36.189834410910436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            808.7382904716096,
+            1739.360963063972,
+            36.189834410910436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            805.7382904716096,
+            1739.360963063972,
+            36.189834410910436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            802.7382904716096,
+            1739.360963063972,
+            36.189834410910436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            799.7382904716096,
+            1739.360963063972,
+            36.189834410910436
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            799.7382904716096,
+            1739.360963063972,
+            36.189834410910436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            797.1402142602562,
+            1740.860963063972,
+            36.189834410910436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            794.5421380489029,
+            1742.360963063972,
+            36.189834410910436
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            794.5421380489029,
+            1742.360963063972,
+            36.189834410910436
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            794.5421380489029,
+            1742.360963063972,
+            36.189834410910436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188101
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            791.9440618375495,
+            1740.860963063972,
+            36.189834410910436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            789.3459856261961,
+            1739.360963063972,
+            36.189834410910436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            786.7479094148428,
+            1737.860963063972,
+            36.189834410910436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            784.1498332034894,
+            1736.360963063972,
+            36.189834410910436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            781.551756992136,
+            1734.860963063972,
+            36.189834410910436
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            781.551756992136,
+            1734.860963063972,
+            36.189834410910436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            780.051756992136,
+            1732.2628868526185,
+            36.189834410910436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            778.551756992136,
+            1729.6648106412651,
+            36.189834410910436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            777.051756992136,
+            1727.0667344299118,
+            36.189834410910436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            775.551756992136,
+            1724.4686582185584,
+            36.189834410910436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            774.051756992136,
+            1721.870582007205,
+            36.189834410910436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            772.551756992136,
+            1719.2725057958517,
+            36.189834410910436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            771.051756992136,
+            1716.6744295844983,
+            36.189834410910436
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            771.051756992136,
+            1716.6744295844983,
+            33.189834410910436
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            771.051756992136,
+            1716.6744295844983,
+            30.189834410910436
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            771.051756992136,
+            1716.6744295844983,
+            27.189834410910436
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            771.051756992136,
+            1716.6744295844983,
+            24.189834410910436
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            771.051756992136,
+            1716.6744295844983,
+            21.189834410910436
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            771.051756992136,
+            1716.6744295844983,
+            18.189834410910436
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            771.051756992136,
+            1716.6744295844983,
+            15.189834410910436
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            771.051756992136,
+            1716.6744295844983,
+            12.189834410910436
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            771.051756992136,
+            1716.6744295844983,
+            9.189834410910436
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            771.051756992136,
+            1716.6744295844983,
+            6.189834410910436
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            771.051756992136,
+            1716.6744295844983,
+            3.1898344109104357
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            771.051756992136,
+            1716.6744295844983,
+            0.18983441091043574
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "red",
+        "feature": "tall with large windows",
+        "position": [
+            680.6825,
+            1683.66,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "right",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_23-41-20_1814887560/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_23-41-20_1814887560/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c0bb26c4d127db910cf8447ce669c8aaa748a5c1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_23-41-20_1814887560/pose.jsonl
@@ -0,0 +1,392 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1806.128835952031,
+            1461.1065409381893,
+            2.4518245853630916
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1806.128835952031,
+            1461.1065409381893,
+            5.451824585363092
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1806.128835952031,
+            1461.1065409381893,
+            8.451824585363092
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1806.128835952031,
+            1461.1065409381893,
+            11.451824585363092
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1806.128835952031,
+            1461.1065409381893,
+            14.451824585363092
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1806.128835952031,
+            1461.1065409381893,
+            17.45182458536309
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1806.128835952031,
+            1461.1065409381893,
+            20.45182458536309
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1806.128835952031,
+            1461.1065409381893,
+            23.45182458536309
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1806.128835952031,
+            1461.1065409381893,
+            26.45182458536309
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1806.128835952031,
+            1461.1065409381893,
+            29.45182458536309
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1806.128835952031,
+            1461.1065409381893,
+            32.45182458536309
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1806.128835952031,
+            1461.1065409381893,
+            35.45182458536309
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1806.128835952031,
+            1461.1065409381893,
+            38.45182458536309
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1806.128835952031,
+            1461.1065409381893,
+            41.45182458536309
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1804.628835952031,
+            1458.5084647268359,
+            41.45182458536309
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1803.128835952031,
+            1455.9103885154825,
+            41.45182458536309
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1803.128835952031,
+            1455.9103885154825,
+            38.45182458536309
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1803.128835952031,
+            1455.9103885154825,
+            35.45182458536309
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1803.128835952031,
+            1455.9103885154825,
+            32.45182458536309
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1803.128835952031,
+            1455.9103885154825,
+            29.45182458536309
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1803.128835952031,
+            1455.9103885154825,
+            26.45182458536309
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1803.128835952031,
+            1455.9103885154825,
+            23.45182458536309
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1803.128835952031,
+            1455.9103885154825,
+            20.45182458536309
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1803.128835952031,
+            1455.9103885154825,
+            17.45182458536309
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1803.128835952031,
+            1455.9103885154825,
+            14.451824585363092
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1803.128835952031,
+            1455.9103885154825,
+            11.451824585363092
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1803.128835952031,
+            1455.9103885154825,
+            8.451824585363092
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1803.128835952031,
+            1455.9103885154825,
+            5.451824585363092
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1803.128835952031,
+            1455.9103885154825,
+            2.4518245853630916
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "ornate detailing",
+        "position": [
+            1718.03719,
+            1304.42484,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_8-31-29_2006811972/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_8-31-29_2006811972/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..894be154e3b0de6339d4e9ceea2d1517c4cc3f00
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_8-31-29_2006811972/pose.jsonl
@@ -0,0 +1,626 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1888.0163634646492,
+            1479.6638798021613,
+            1.73132059089302
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1888.0163634646492,
+            1479.6638798021613,
+            4.73132059089302
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1888.0163634646492,
+            1479.6638798021613,
+            7.73132059089302
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1888.0163634646492,
+            1479.6638798021613,
+            10.73132059089302
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1888.0163634646492,
+            1479.6638798021613,
+            13.73132059089302
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1888.0163634646492,
+            1479.6638798021613,
+            16.73132059089302
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1888.0163634646492,
+            1479.6638798021613,
+            19.73132059089302
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1888.0163634646492,
+            1479.6638798021613,
+            22.73132059089302
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1888.0163634646492,
+            1479.6638798021613,
+            25.73132059089302
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1888.0163634646492,
+            1479.6638798021613,
+            28.73132059089302
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1888.0163634646492,
+            1479.6638798021613,
+            31.73132059089302
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1888.0163634646492,
+            1479.6638798021613,
+            34.73132059089302
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1888.0163634646492,
+            1479.6638798021613,
+            37.73132059089302
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1888.0163634646492,
+            1479.6638798021613,
+            40.73132059089302
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1888.0163634646492,
+            1479.6638798021613,
+            43.73132059089302
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1888.0163634646492,
+            1479.6638798021613,
+            46.73132059089302
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1888.0163634646492,
+            1479.6638798021613,
+            49.73132059089302
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1888.0163634646492,
+            1479.6638798021613,
+            52.73132059089302
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1888.0163634646492,
+            1479.6638798021613,
+            55.73132059089302
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1886.5163634646492,
+            1477.065803590808,
+            55.73132059089302
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1885.0163634646492,
+            1474.4677273794546,
+            55.73132059089302
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1883.5163634646492,
+            1471.8696511681012,
+            55.73132059089302
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1882.0163634646492,
+            1469.2715749567478,
+            55.73132059089302
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1880.5163634646492,
+            1466.6734987453945,
+            55.73132059089302
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1879.0163634646492,
+            1464.075422534041,
+            55.73132059089302
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1877.5163634646492,
+            1461.4773463226877,
+            55.73132059089302
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1876.0163634646492,
+            1458.8792701113343,
+            55.73132059089302
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1874.5163634646492,
+            1456.281193899981,
+            55.73132059089302
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1873.0163634646492,
+            1453.6831176886276,
+            55.73132059089302
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1873.0163634646492,
+            1453.6831176886276,
+            52.73132059089302
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1873.0163634646492,
+            1453.6831176886276,
+            49.73132059089302
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1873.0163634646492,
+            1453.6831176886276,
+            46.73132059089302
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1873.0163634646492,
+            1453.6831176886276,
+            43.73132059089302
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1873.0163634646492,
+            1453.6831176886276,
+            40.73132059089302
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1873.0163634646492,
+            1453.6831176886276,
+            37.73132059089302
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1873.0163634646492,
+            1453.6831176886276,
+            34.73132059089302
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1873.0163634646492,
+            1453.6831176886276,
+            31.73132059089302
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1873.0163634646492,
+            1453.6831176886276,
+            28.73132059089302
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1873.0163634646492,
+            1453.6831176886276,
+            25.73132059089302
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1873.0163634646492,
+            1453.6831176886276,
+            22.73132059089302
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1873.0163634646492,
+            1453.6831176886276,
+            19.73132059089302
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1873.0163634646492,
+            1453.6831176886276,
+            16.73132059089302
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1873.0163634646492,
+            1453.6831176886276,
+            13.73132059089302
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1873.0163634646492,
+            1453.6831176886276,
+            10.73132059089302
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1873.0163634646492,
+            1453.6831176886276,
+            7.73132059089302
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1873.0163634646492,
+            1453.6831176886276,
+            4.73132059089302
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1873.0163634646492,
+            1453.6831176886276,
+            1.73132059089302
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "arched windows",
+        "position": [
+            1795.55297,
+            1349.9843799999999,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_8-47-32_337739299/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_8-47-32_337739299/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..75857040c96aece5beef7693e7e9bbb9e54e1d49
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_8-47-32_337739299/pose.jsonl
@@ -0,0 +1,574 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            774.4861329383428,
+            1517.4793449318984,
+            0.487734848980125
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            774.4861329383428,
+            1517.4793449318984,
+            3.487734848980125
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            774.4861329383428,
+            1517.4793449318984,
+            6.487734848980125
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            774.4861329383428,
+            1517.4793449318984,
+            9.487734848980125
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            774.4861329383428,
+            1517.4793449318984,
+            12.487734848980125
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            774.4861329383428,
+            1517.4793449318984,
+            15.487734848980125
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            774.4861329383428,
+            1517.4793449318984,
+            18.487734848980125
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            774.4861329383428,
+            1517.4793449318984,
+            21.487734848980125
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            774.4861329383428,
+            1517.4793449318984,
+            24.487734848980125
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            774.4861329383428,
+            1517.4793449318984,
+            27.487734848980125
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            774.4861329383428,
+            1517.4793449318984,
+            30.487734848980125
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            774.4861329383428,
+            1517.4793449318984,
+            33.487734848980125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            774.4861329383428,
+            1514.4793449318984,
+            33.487734848980125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            774.4861329383428,
+            1511.4793449318984,
+            33.487734848980125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            774.4861329383428,
+            1508.4793449318984,
+            33.487734848980125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            774.4861329383428,
+            1505.4793449318984,
+            33.487734848980125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            774.4861329383428,
+            1502.4793449318984,
+            33.487734848980125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            774.4861329383428,
+            1499.4793449318984,
+            33.487734848980125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            774.4861329383428,
+            1496.4793449318984,
+            33.487734848980125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            774.4861329383428,
+            1493.4793449318984,
+            33.487734848980125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            774.4861329383428,
+            1490.4793449318984,
+            33.487734848980125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            774.4861329383428,
+            1487.4793449318984,
+            33.487734848980125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            774.4861329383428,
+            1484.4793449318984,
+            33.487734848980125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            774.4861329383428,
+            1481.4793449318984,
+            33.487734848980125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            774.4861329383428,
+            1478.4793449318984,
+            33.487734848980125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            774.4861329383428,
+            1475.4793449318984,
+            33.487734848980125
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            774.4861329383428,
+            1475.4793449318984,
+            33.487734848980125
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            774.4861329383428,
+            1475.4793449318984,
+            33.487734848980125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982989
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            777.0842091496961,
+            1473.9793449318984,
+            33.487734848980125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            779.6822853610495,
+            1472.4793449318984,
+            33.487734848980125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            782.2803615724029,
+            1470.9793449318984,
+            33.487734848980125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            784.8784377837562,
+            1469.4793449318984,
+            33.487734848980125
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            784.8784377837562,
+            1469.4793449318984,
+            30.487734848980125
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            784.8784377837562,
+            1469.4793449318984,
+            27.487734848980125
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            784.8784377837562,
+            1469.4793449318984,
+            24.487734848980125
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            784.8784377837562,
+            1469.4793449318984,
+            21.487734848980125
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            784.8784377837562,
+            1469.4793449318984,
+            18.487734848980125
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            784.8784377837562,
+            1469.4793449318984,
+            15.487734848980125
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            784.8784377837562,
+            1469.4793449318984,
+            12.487734848980125
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            784.8784377837562,
+            1469.4793449318984,
+            9.487734848980125
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            784.8784377837562,
+            1469.4793449318984,
+            6.487734848980125
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            784.8784377837562,
+            1469.4793449318984,
+            3.487734848980125
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            784.8784377837562,
+            1469.4793449318984,
+            0.487734848980125
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "classical architectural elements",
+        "position": [
+            817.95836,
+            1349.14422,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "right",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_9-34-29_246247255/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_9-34-29_246247255/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..41243e7ebd9a16c7e32cf238c135076f01545f5a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_9-34-29_246247255/pose.jsonl
@@ -0,0 +1,899 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1229.9374749084873,
+            599.5815284333394,
+            0.5537547293075491
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1229.9374749084873,
+            599.5815284333394,
+            3.553754729307549
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1229.9374749084873,
+            599.5815284333394,
+            6.553754729307549
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1229.9374749084873,
+            599.5815284333394,
+            9.553754729307549
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1229.9374749084873,
+            599.5815284333394,
+            12.553754729307549
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1229.9374749084873,
+            599.5815284333394,
+            15.553754729307549
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1229.9374749084873,
+            599.5815284333394,
+            18.55375472930755
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1229.9374749084873,
+            599.5815284333394,
+            21.55375472930755
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1229.9374749084873,
+            599.5815284333394,
+            24.55375472930755
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1229.9374749084873,
+            599.5815284333394,
+            27.55375472930755
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1229.9374749084873,
+            599.5815284333394,
+            30.55375472930755
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1229.9374749084873,
+            599.5815284333394,
+            33.55375472930755
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1229.9374749084873,
+            599.5815284333394,
+            36.55375472930755
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1229.9374749084873,
+            599.5815284333394,
+            39.55375472930755
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1229.9374749084873,
+            599.5815284333394,
+            42.55375472930755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1228.4374749084873,
+            602.1796046446927,
+            42.55375472930755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1226.9374749084873,
+            604.7776808560461,
+            42.55375472930755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1225.4374749084873,
+            607.3757570673995,
+            42.55375472930755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1223.9374749084873,
+            609.9738332787529,
+            42.55375472930755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1222.4374749084873,
+            612.5719094901062,
+            42.55375472930755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1220.9374749084873,
+            615.1699857014596,
+            42.55375472930755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1219.4374749084873,
+            617.768061912813,
+            42.55375472930755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1217.9374749084873,
+            620.3661381241664,
+            42.55375472930755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1216.4374749084873,
+            622.9642143355197,
+            42.55375472930755
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1216.4374749084873,
+            622.9642143355197,
+            42.55375472930755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1213.839398697134,
+            624.4642143355197,
+            42.55375472930755
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1213.839398697134,
+            624.4642143355197,
+            42.55375472930755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1212.339398697134,
+            627.0622905468731,
+            42.55375472930755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1210.839398697134,
+            629.6603667582265,
+            42.55375472930755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1209.339398697134,
+            632.2584429695798,
+            42.55375472930755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1207.839398697134,
+            634.8565191809332,
+            42.55375472930755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1206.339398697134,
+            637.4545953922866,
+            42.55375472930755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1204.839398697134,
+            640.05267160364,
+            42.55375472930755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1203.339398697134,
+            642.6507478149933,
+            42.55375472930755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1201.839398697134,
+            645.2488240263467,
+            42.55375472930755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1200.339398697134,
+            647.8469002377001,
+            42.55375472930755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1198.839398697134,
+            650.4449764490535,
+            42.55375472930755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1197.339398697134,
+            653.0430526604068,
+            42.55375472930755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1195.839398697134,
+            655.6411288717602,
+            42.55375472930755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1194.339398697134,
+            658.2392050831136,
+            42.55375472930755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1192.839398697134,
+            660.837281294467,
+            42.55375472930755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1191.339398697134,
+            663.4353575058203,
+            42.55375472930755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1189.839398697134,
+            666.0334337171737,
+            42.55375472930755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1188.339398697134,
+            668.6315099285271,
+            42.55375472930755
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1188.339398697134,
+            668.6315099285271,
+            42.55375472930755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1188.339398697134,
+            671.6315099285271,
+            42.55375472930755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1188.339398697134,
+            674.6315099285271,
+            42.55375472930755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1188.339398697134,
+            677.6315099285271,
+            42.55375472930755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1188.339398697134,
+            680.6315099285271,
+            42.55375472930755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1188.339398697134,
+            683.6315099285271,
+            42.55375472930755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1188.339398697134,
+            686.6315099285271,
+            42.55375472930755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            1188.339398697134,
+            689.6315099285271,
+            42.55375472930755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            1188.339398697134,
+            692.6315099285271,
+            42.55375472930755
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            1188.339398697134,
+            695.6315099285271,
+            42.55375472930755
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            1188.339398697134,
+            695.6315099285271,
+            39.55375472930755
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            1188.339398697134,
+            695.6315099285271,
+            36.55375472930755
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            1188.339398697134,
+            695.6315099285271,
+            33.55375472930755
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            1188.339398697134,
+            695.6315099285271,
+            30.55375472930755
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            1188.339398697134,
+            695.6315099285271,
+            27.55375472930755
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            1188.339398697134,
+            695.6315099285271,
+            24.55375472930755
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            1188.339398697134,
+            695.6315099285271,
+            21.55375472930755
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            1188.339398697134,
+            695.6315099285271,
+            18.55375472930755
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            1188.339398697134,
+            695.6315099285271,
+            15.553754729307549
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            1188.339398697134,
+            695.6315099285271,
+            12.553754729307549
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            1188.339398697134,
+            695.6315099285271,
+            9.553754729307549
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            1188.339398697134,
+            695.6315099285271,
+            6.553754729307549
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            1188.339398697134,
+            695.6315099285271,
+            3.553754729307549
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            1188.339398697134,
+            695.6315099285271,
+            0.5537547293075491
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "arched windows",
+        "position": [
+            1167.1814100000001,
+            738.55008,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_9-36-58_1858721860/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_9-36-58_1858721860/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d07250818ea8b52959ae2e69e7c8d3df4fb05eb6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_9-36-58_1858721860/pose.jsonl
@@ -0,0 +1,626 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            270.4335790137661,
+            1188.1265336117985,
+            2.120984566577242
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            270.4335790137661,
+            1188.1265336117985,
+            5.120984566577242
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            270.4335790137661,
+            1188.1265336117985,
+            8.120984566577242
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            270.4335790137661,
+            1188.1265336117985,
+            11.120984566577242
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            270.4335790137661,
+            1188.1265336117985,
+            14.120984566577242
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            270.4335790137661,
+            1188.1265336117985,
+            17.120984566577242
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            270.4335790137661,
+            1188.1265336117985,
+            20.120984566577242
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            270.4335790137661,
+            1188.1265336117985,
+            23.120984566577242
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            270.4335790137661,
+            1188.1265336117985,
+            26.120984566577242
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            270.4335790137661,
+            1188.1265336117985,
+            29.120984566577242
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            270.4335790137661,
+            1188.1265336117985,
+            32.12098456657724
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            270.4335790137661,
+            1188.1265336117985,
+            35.12098456657724
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            270.4335790137661,
+            1188.1265336117985,
+            38.12098456657724
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            270.4335790137661,
+            1188.1265336117985,
+            41.12098456657724
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            270.4335790137661,
+            1188.1265336117985,
+            44.12098456657724
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            270.4335790137661,
+            1188.1265336117985,
+            47.12098456657724
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            273.4335790137661,
+            1188.1265336117985,
+            47.12098456657724
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            276.4335790137661,
+            1188.1265336117985,
+            47.12098456657724
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            279.4335790137661,
+            1188.1265336117985,
+            47.12098456657724
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            282.4335790137661,
+            1188.1265336117985,
+            47.12098456657724
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            285.4335790137661,
+            1188.1265336117985,
+            47.12098456657724
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            288.4335790137661,
+            1188.1265336117985,
+            47.12098456657724
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            291.4335790137661,
+            1188.1265336117985,
+            47.12098456657724
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            294.4335790137661,
+            1188.1265336117985,
+            47.12098456657724
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            297.4335790137661,
+            1188.1265336117985,
+            47.12098456657724
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            300.4335790137661,
+            1188.1265336117985,
+            47.12098456657724
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            300.4335790137661,
+            1188.1265336117985,
+            47.12098456657724
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            303.03165522511944,
+            1186.6265336117985,
+            47.12098456657724
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            305.62973143647275,
+            1185.1265336117985,
+            47.12098456657724
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            308.22780764782607,
+            1183.6265336117985,
+            47.12098456657724
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            310.8258838591794,
+            1182.1265336117985,
+            47.12098456657724
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            313.4239600705327,
+            1180.6265336117985,
+            47.12098456657724
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            313.4239600705327,
+            1180.6265336117985,
+            44.12098456657724
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            313.4239600705327,
+            1180.6265336117985,
+            41.12098456657724
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            313.4239600705327,
+            1180.6265336117985,
+            38.12098456657724
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            313.4239600705327,
+            1180.6265336117985,
+            35.12098456657724
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            313.4239600705327,
+            1180.6265336117985,
+            32.12098456657724
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            313.4239600705327,
+            1180.6265336117985,
+            29.120984566577242
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            313.4239600705327,
+            1180.6265336117985,
+            26.120984566577242
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            313.4239600705327,
+            1180.6265336117985,
+            23.120984566577242
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            313.4239600705327,
+            1180.6265336117985,
+            20.120984566577242
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            313.4239600705327,
+            1180.6265336117985,
+            17.120984566577242
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            313.4239600705327,
+            1180.6265336117985,
+            14.120984566577242
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            313.4239600705327,
+            1180.6265336117985,
+            11.120984566577242
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            313.4239600705327,
+            1180.6265336117985,
+            8.120984566577242
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            313.4239600705327,
+            1180.6265336117985,
+            5.120984566577242
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            313.4239600705327,
+            1180.6265336117985,
+            2.120984566577242
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "arched windows",
+        "position": [
+            425.26055,
+            1154.84094,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_0-3-52_1910858270/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_0-3-52_1910858270/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..774ec450b70f61a24b5742f90d73969b5a54f37b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_0-3-52_1910858270/pose.jsonl
@@ -0,0 +1,964 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1403.3418642519307,
+            1224.1545126068909,
+            0.5711296989857857
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1403.3418642519307,
+            1224.1545126068909,
+            3.5711296989857857
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1403.3418642519307,
+            1224.1545126068909,
+            6.571129698985786
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1403.3418642519307,
+            1224.1545126068909,
+            9.571129698985786
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1403.3418642519307,
+            1224.1545126068909,
+            12.571129698985786
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1403.3418642519307,
+            1224.1545126068909,
+            15.571129698985786
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1403.3418642519307,
+            1224.1545126068909,
+            18.571129698985786
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1403.3418642519307,
+            1224.1545126068909,
+            21.571129698985786
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1403.3418642519307,
+            1224.1545126068909,
+            24.571129698985786
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1403.3418642519307,
+            1224.1545126068909,
+            27.571129698985786
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1403.3418642519307,
+            1224.1545126068909,
+            30.571129698985786
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1403.3418642519307,
+            1224.1545126068909,
+            33.571129698985786
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1403.3418642519307,
+            1224.1545126068909,
+            36.571129698985786
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1403.3418642519307,
+            1224.1545126068909,
+            39.571129698985786
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1403.3418642519307,
+            1224.1545126068909,
+            42.571129698985786
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1403.3418642519307,
+            1224.1545126068909,
+            45.571129698985786
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1401.8418642519307,
+            1226.7525888182442,
+            45.571129698985786
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1400.3418642519307,
+            1229.3506650295976,
+            45.571129698985786
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1398.8418642519307,
+            1231.948741240951,
+            45.571129698985786
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1397.3418642519307,
+            1234.5468174523044,
+            45.571129698985786
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1395.8418642519307,
+            1237.1448936636577,
+            45.571129698985786
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1394.3418642519307,
+            1239.742969875011,
+            45.571129698985786
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1392.8418642519307,
+            1242.3410460863645,
+            45.571129698985786
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1391.3418642519307,
+            1244.9391222977179,
+            45.571129698985786
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1389.8418642519307,
+            1247.5371985090712,
+            45.571129698985786
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1388.3418642519307,
+            1250.1352747204246,
+            45.571129698985786
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1386.8418642519307,
+            1252.733350931778,
+            45.571129698985786
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1385.3418642519307,
+            1255.3314271431314,
+            45.571129698985786
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1383.8418642519307,
+            1257.9295033544847,
+            45.571129698985786
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1382.3418642519307,
+            1260.527579565838,
+            45.571129698985786
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1380.8418642519307,
+            1263.1256557771915,
+            45.571129698985786
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1379.3418642519307,
+            1265.7237319885448,
+            45.571129698985786
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1377.8418642519307,
+            1268.3218081998982,
+            45.571129698985786
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1376.3418642519307,
+            1270.9198844112516,
+            45.571129698985786
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1374.8418642519307,
+            1273.517960622605,
+            45.571129698985786
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1373.3418642519307,
+            1276.1160368339583,
+            45.571129698985786
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1371.8418642519307,
+            1278.7141130453117,
+            45.571129698985786
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1370.3418642519307,
+            1281.312189256665,
+            45.571129698985786
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1368.8418642519307,
+            1283.9102654680185,
+            45.571129698985786
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1368.8418642519307,
+            1283.9102654680185,
+            45.571129698985786
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1366.2437880405773,
+            1285.4102654680185,
+            45.571129698985786
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1363.645711829224,
+            1286.9102654680185,
+            45.571129698985786
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1361.0476356178706,
+            1288.4102654680185,
+            45.571129698985786
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1358.4495594065172,
+            1289.9102654680185,
+            45.571129698985786
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1355.8514831951638,
+            1291.4102654680185,
+            45.571129698985786
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1353.2534069838105,
+            1292.9102654680185,
+            45.571129698985786
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1350.655330772457,
+            1294.4102654680185,
+            45.571129698985786
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1348.0572545611037,
+            1295.9102654680185,
+            45.571129698985786
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1345.4591783497503,
+            1297.4102654680185,
+            45.571129698985786
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1342.861102138397,
+            1298.9102654680185,
+            45.571129698985786
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1340.2630259270436,
+            1300.4102654680185,
+            45.571129698985786
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            1337.6649497156902,
+            1301.9102654680185,
+            45.571129698985786
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            1335.0668735043369,
+            1303.4102654680185,
+            45.571129698985786
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            1332.4687972929835,
+            1304.9102654680185,
+            45.571129698985786
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            1332.4687972929835,
+            1304.9102654680185,
+            45.571129698985786
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            1332.4687972929835,
+            1304.9102654680185,
+            45.571129698985786
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.570796326794906
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            1332.4687972929835,
+            1307.9102654680185,
+            45.571129698985786
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            1332.4687972929835,
+            1310.9102654680185,
+            45.571129698985786
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            1332.4687972929835,
+            1310.9102654680185,
+            42.571129698985786
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            1332.4687972929835,
+            1310.9102654680185,
+            39.571129698985786
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            1332.4687972929835,
+            1310.9102654680185,
+            36.571129698985786
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            1332.4687972929835,
+            1310.9102654680185,
+            33.571129698985786
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            1332.4687972929835,
+            1310.9102654680185,
+            30.571129698985786
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            1332.4687972929835,
+            1310.9102654680185,
+            27.571129698985786
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            1332.4687972929835,
+            1310.9102654680185,
+            24.571129698985786
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            1332.4687972929835,
+            1310.9102654680185,
+            21.571129698985786
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            1332.4687972929835,
+            1310.9102654680185,
+            18.571129698985786
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            1332.4687972929835,
+            1310.9102654680185,
+            15.571129698985786
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            1332.4687972929835,
+            1310.9102654680185,
+            12.571129698985786
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            1332.4687972929835,
+            1310.9102654680185,
+            9.571129698985786
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            1332.4687972929835,
+            1310.9102654680185,
+            6.571129698985786
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            1332.4687972929835,
+            1310.9102654680185,
+            3.5711296989857857
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            1332.4687972929835,
+            1310.9102654680185,
+            0.5711296989857857
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "beige",
+        "feature": "classical architectural elements",
+        "position": [
+            1303.7148399999999,
+            1345.5946900000001,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "left",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_1-28-5_1981208324/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_1-28-5_1981208324/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..88064b339d48d2f8fe36bd2b6b20b2435538e86f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_1-28-5_1981208324/pose.jsonl
@@ -0,0 +1,379 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            394.6837255077169,
+            -991.7289680128104,
+            1.469055718928594
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            394.6837255077169,
+            -991.7289680128104,
+            4.469055718928594
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            394.6837255077169,
+            -991.7289680128104,
+            7.469055718928594
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            394.6837255077169,
+            -991.7289680128104,
+            10.469055718928594
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            394.6837255077169,
+            -991.7289680128104,
+            13.469055718928594
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            394.6837255077169,
+            -991.7289680128104,
+            16.469055718928594
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            394.6837255077169,
+            -991.7289680128104,
+            19.469055718928594
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            394.6837255077169,
+            -991.7289680128104,
+            22.469055718928594
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            394.6837255077169,
+            -991.7289680128104,
+            25.469055718928594
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            394.6837255077169,
+            -991.7289680128104,
+            28.469055718928594
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            394.6837255077169,
+            -991.7289680128104,
+            31.469055718928594
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            394.6837255077169,
+            -991.7289680128104,
+            34.469055718928594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            394.6837255077169,
+            -988.7289680128104,
+            34.469055718928594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            394.6837255077169,
+            -985.7289680128104,
+            34.469055718928594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            394.6837255077169,
+            -982.7289680128104,
+            34.469055718928594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            394.6837255077169,
+            -979.7289680128104,
+            34.469055718928594
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            394.6837255077169,
+            -976.7289680128104,
+            34.469055718928594
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            394.6837255077169,
+            -976.7289680128104,
+            31.469055718928594
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            394.6837255077169,
+            -976.7289680128104,
+            28.469055718928594
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            394.6837255077169,
+            -976.7289680128104,
+            25.469055718928594
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            394.6837255077169,
+            -976.7289680128104,
+            22.469055718928594
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            394.6837255077169,
+            -976.7289680128104,
+            19.469055718928594
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            394.6837255077169,
+            -976.7289680128104,
+            16.469055718928594
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            394.6837255077169,
+            -976.7289680128104,
+            13.469055718928594
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            394.6837255077169,
+            -976.7289680128104,
+            10.469055718928594
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            394.6837255077169,
+            -976.7289680128104,
+            7.469055718928594
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            394.6837255077169,
+            -976.7289680128104,
+            4.469055718928594
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            394.6837255077169,
+            -976.7289680128104,
+            1.469055718928594
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "beige",
+        "feature": "arched windows",
+        "position": [
+            389.79824,
+            -812.59883,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_10-54-51_1671581032/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_10-54-51_1671581032/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..afc05beb8f797cd167879cebe8cfa61779473cb6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_10-54-51_1671581032/pose.jsonl
@@ -0,0 +1,704 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            695.3941247366411,
+            -297.32283319098246,
+            2.6923502866744258
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            695.3941247366411,
+            -297.32283319098246,
+            5.692350286674426
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            695.3941247366411,
+            -297.32283319098246,
+            8.692350286674426
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            695.3941247366411,
+            -297.32283319098246,
+            11.692350286674426
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            695.3941247366411,
+            -297.32283319098246,
+            14.692350286674426
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            695.3941247366411,
+            -297.32283319098246,
+            17.692350286674426
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            695.3941247366411,
+            -297.32283319098246,
+            20.692350286674426
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            695.3941247366411,
+            -297.32283319098246,
+            23.692350286674426
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            695.3941247366411,
+            -297.32283319098246,
+            26.692350286674426
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            695.3941247366411,
+            -297.32283319098246,
+            29.692350286674426
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            695.3941247366411,
+            -297.32283319098246,
+            32.692350286674426
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            695.3941247366411,
+            -297.32283319098246,
+            35.692350286674426
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            695.3941247366411,
+            -297.32283319098246,
+            38.692350286674426
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            695.3941247366411,
+            -297.32283319098246,
+            41.692350286674426
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            695.3941247366411,
+            -297.32283319098246,
+            44.692350286674426
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            695.3941247366411,
+            -297.32283319098246,
+            47.692350286674426
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            695.3941247366411,
+            -297.32283319098246,
+            50.692350286674426
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            695.3941247366411,
+            -297.32283319098246,
+            53.692350286674426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            693.8941247366411,
+            -294.72475697962915,
+            53.692350286674426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            692.3941247366411,
+            -292.12668076827583,
+            53.692350286674426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            690.8941247366411,
+            -289.5286045569225,
+            53.692350286674426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            689.3941247366411,
+            -286.9305283455692,
+            53.692350286674426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            687.8941247366411,
+            -284.3324521342159,
+            53.692350286674426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            686.3941247366411,
+            -281.73437592286257,
+            53.692350286674426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            684.8941247366411,
+            -279.13629971150925,
+            53.692350286674426
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            684.8941247366411,
+            -279.13629971150925,
+            53.692350286674426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            682.2960485252877,
+            -277.63629971150925,
+            53.692350286674426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            679.6979723139343,
+            -276.13629971150925,
+            53.692350286674426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            677.0998961025809,
+            -274.63629971150925,
+            53.692350286674426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            674.5018198912276,
+            -273.13629971150925,
+            53.692350286674426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            671.9037436798742,
+            -271.63629971150925,
+            53.692350286674426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            669.3056674685208,
+            -270.13629971150925,
+            53.692350286674426
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            669.3056674685208,
+            -270.13629971150925,
+            53.692350286674426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            667.8056674685208,
+            -267.53822350015594,
+            53.692350286674426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            666.3056674685208,
+            -264.9401472888026,
+            53.692350286674426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            664.8056674685208,
+            -262.3420710774493,
+            53.692350286674426
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            664.8056674685208,
+            -262.3420710774493,
+            50.692350286674426
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            664.8056674685208,
+            -262.3420710774493,
+            47.692350286674426
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            664.8056674685208,
+            -262.3420710774493,
+            44.692350286674426
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            664.8056674685208,
+            -262.3420710774493,
+            41.692350286674426
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            664.8056674685208,
+            -262.3420710774493,
+            38.692350286674426
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            664.8056674685208,
+            -262.3420710774493,
+            35.692350286674426
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            664.8056674685208,
+            -262.3420710774493,
+            32.692350286674426
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            664.8056674685208,
+            -262.3420710774493,
+            29.692350286674426
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            664.8056674685208,
+            -262.3420710774493,
+            26.692350286674426
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            664.8056674685208,
+            -262.3420710774493,
+            23.692350286674426
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            664.8056674685208,
+            -262.3420710774493,
+            20.692350286674426
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            664.8056674685208,
+            -262.3420710774493,
+            17.692350286674426
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            664.8056674685208,
+            -262.3420710774493,
+            14.692350286674426
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            664.8056674685208,
+            -262.3420710774493,
+            11.692350286674426
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            664.8056674685208,
+            -262.3420710774493,
+            8.692350286674426
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            664.8056674685208,
+            -262.3420710774493,
+            5.692350286674426
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            664.8056674685208,
+            -262.3420710774493,
+            2.6923502866744258
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "many windows",
+        "position": [
+            592.01629,
+            -183.19432,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_12-32-8_1186994949/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_12-32-8_1186994949/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..737708a1f8aa466bcf3af582b016e6afce866e67
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_12-32-8_1186994949/pose.jsonl
@@ -0,0 +1,496 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            710.5152396966408,
+            -288.94096362484265,
+            1.3352667353334553
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            710.5152396966408,
+            -288.94096362484265,
+            4.335266735333455
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            710.5152396966408,
+            -288.94096362484265,
+            7.335266735333455
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            710.5152396966408,
+            -288.94096362484265,
+            10.335266735333455
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            710.5152396966408,
+            -288.94096362484265,
+            13.335266735333455
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            710.5152396966408,
+            -288.94096362484265,
+            16.335266735333455
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            710.5152396966408,
+            -288.94096362484265,
+            19.335266735333455
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            710.5152396966408,
+            -288.94096362484265,
+            22.335266735333455
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            710.5152396966408,
+            -288.94096362484265,
+            25.335266735333455
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            710.5152396966408,
+            -288.94096362484265,
+            28.335266735333455
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            710.5152396966408,
+            -288.94096362484265,
+            31.335266735333455
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            710.5152396966408,
+            -288.94096362484265,
+            34.335266735333455
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            712.0152396966408,
+            -291.53903983619597,
+            34.335266735333455
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            713.5152396966408,
+            -294.1371160475493,
+            34.335266735333455
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            715.0152396966408,
+            -296.7351922589026,
+            34.335266735333455
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            716.5152396966408,
+            -299.3332684702559,
+            34.335266735333455
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            718.0152396966408,
+            -301.93134468160923,
+            34.335266735333455
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            719.5152396966408,
+            -304.52942089296255,
+            34.335266735333455
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            721.0152396966408,
+            -307.12749710431586,
+            34.335266735333455
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            722.5152396966408,
+            -309.7255733156692,
+            34.335266735333455
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            724.0152396966408,
+            -312.3236495270225,
+            34.335266735333455
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            725.5152396966408,
+            -314.9217257383758,
+            34.335266735333455
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            727.0152396966408,
+            -317.51980194972913,
+            34.335266735333455
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            727.0152396966408,
+            -317.51980194972913,
+            34.335266735333455
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            727.0152396966408,
+            -320.51980194972913,
+            34.335266735333455
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            727.0152396966408,
+            -323.51980194972913,
+            34.335266735333455
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            727.0152396966408,
+            -323.51980194972913,
+            31.335266735333455
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            727.0152396966408,
+            -323.51980194972913,
+            28.335266735333455
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            727.0152396966408,
+            -323.51980194972913,
+            25.335266735333455
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            727.0152396966408,
+            -323.51980194972913,
+            22.335266735333455
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            727.0152396966408,
+            -323.51980194972913,
+            19.335266735333455
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            727.0152396966408,
+            -323.51980194972913,
+            16.335266735333455
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            727.0152396966408,
+            -323.51980194972913,
+            13.335266735333455
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            727.0152396966408,
+            -323.51980194972913,
+            10.335266735333455
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            727.0152396966408,
+            -323.51980194972913,
+            7.335266735333455
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            727.0152396966408,
+            -323.51980194972913,
+            4.335266735333455
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            727.0152396966408,
+            -323.51980194972913,
+            1.3352667353334553
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "grid of windows",
+        "position": [
+            769.47727,
+            -428.31,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_15-39-31_1163384280/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_15-39-31_1163384280/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3b130141c76e89cfaec73604d3d50f412e2cfc65
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_15-39-31_1163384280/pose.jsonl
@@ -0,0 +1,587 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            740.3957272044631,
+            357.5376888120115,
+            0.36907243482991703
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            740.3957272044631,
+            357.5376888120115,
+            3.369072434829917
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            740.3957272044631,
+            357.5376888120115,
+            6.369072434829917
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            740.3957272044631,
+            357.5376888120115,
+            9.369072434829917
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            740.3957272044631,
+            357.5376888120115,
+            12.369072434829917
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            740.3957272044631,
+            357.5376888120115,
+            15.369072434829917
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            740.3957272044631,
+            357.5376888120115,
+            18.369072434829917
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            740.3957272044631,
+            357.5376888120115,
+            21.369072434829917
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            740.3957272044631,
+            357.5376888120115,
+            24.369072434829917
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            740.3957272044631,
+            357.5376888120115,
+            27.369072434829917
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            740.3957272044631,
+            357.5376888120115,
+            30.369072434829917
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            740.3957272044631,
+            357.5376888120115,
+            33.36907243482992
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            740.3957272044631,
+            357.5376888120115,
+            36.36907243482992
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            740.3957272044631,
+            357.5376888120115,
+            39.36907243482992
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            740.3957272044631,
+            357.5376888120115,
+            42.36907243482992
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            740.3957272044631,
+            357.5376888120115,
+            45.36907243482992
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            740.3957272044631,
+            357.5376888120115,
+            48.36907243482992
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            740.3957272044631,
+            357.5376888120115,
+            51.36907243482992
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            740.3957272044631,
+            357.5376888120115,
+            54.36907243482992
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            737.7976509931098,
+            359.0376888120115,
+            54.36907243482992
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            735.1995747817564,
+            360.5376888120115,
+            54.36907243482992
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            732.601498570403,
+            362.0376888120115,
+            54.36907243482992
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            730.0034223590496,
+            363.5376888120115,
+            54.36907243482992
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            727.4053461476963,
+            365.0376888120115,
+            54.36907243482992
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            724.8072699363429,
+            366.5376888120115,
+            54.36907243482992
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            722.2091937249895,
+            368.0376888120115,
+            54.36907243482992
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            722.2091937249895,
+            368.0376888120115,
+            51.36907243482992
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            722.2091937249895,
+            368.0376888120115,
+            48.36907243482992
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            722.2091937249895,
+            368.0376888120115,
+            45.36907243482992
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            722.2091937249895,
+            368.0376888120115,
+            42.36907243482992
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            722.2091937249895,
+            368.0376888120115,
+            39.36907243482992
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            722.2091937249895,
+            368.0376888120115,
+            36.36907243482992
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            722.2091937249895,
+            368.0376888120115,
+            33.36907243482992
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            722.2091937249895,
+            368.0376888120115,
+            30.369072434829917
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            722.2091937249895,
+            368.0376888120115,
+            27.369072434829917
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            722.2091937249895,
+            368.0376888120115,
+            24.369072434829917
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            722.2091937249895,
+            368.0376888120115,
+            21.369072434829917
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            722.2091937249895,
+            368.0376888120115,
+            18.369072434829917
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            722.2091937249895,
+            368.0376888120115,
+            15.369072434829917
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            722.2091937249895,
+            368.0376888120115,
+            12.369072434829917
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            722.2091937249895,
+            368.0376888120115,
+            9.369072434829917
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            722.2091937249895,
+            368.0376888120115,
+            6.369072434829917
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            722.2091937249895,
+            368.0376888120115,
+            3.369072434829917
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            722.2091937249895,
+            368.0376888120115,
+            0.36907243482991703
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "glass windows",
+        "position": [
+            598.96953,
+            435.31977,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_15-47-7_895873480/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_15-47-7_895873480/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0faa46c5a9d504eb737c53fabc615d4de5d58689
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_15-47-7_895873480/pose.jsonl
@@ -0,0 +1,496 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1335.9135539165861,
+            586.2721296969253,
+            2.198384719279886
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1335.9135539165861,
+            586.2721296969253,
+            5.198384719279886
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1335.9135539165861,
+            586.2721296969253,
+            8.198384719279886
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1335.9135539165861,
+            586.2721296969253,
+            11.198384719279886
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1335.9135539165861,
+            586.2721296969253,
+            14.198384719279886
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1335.9135539165861,
+            586.2721296969253,
+            17.198384719279886
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1335.9135539165861,
+            586.2721296969253,
+            20.198384719279886
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1335.9135539165861,
+            586.2721296969253,
+            23.198384719279886
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1335.9135539165861,
+            586.2721296969253,
+            26.198384719279886
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1335.9135539165861,
+            586.2721296969253,
+            29.198384719279886
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1335.9135539165861,
+            586.2721296969253,
+            32.198384719279886
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1335.9135539165861,
+            586.2721296969253,
+            35.198384719279886
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1335.9135539165861,
+            586.2721296969253,
+            38.198384719279886
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1335.9135539165861,
+            586.2721296969253,
+            41.198384719279886
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1335.9135539165861,
+            586.2721296969253,
+            44.198384719279886
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1335.9135539165861,
+            586.2721296969253,
+            47.198384719279886
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1335.9135539165861,
+            586.2721296969253,
+            50.198384719279886
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1334.4135539165861,
+            583.6740534855719,
+            50.198384719279886
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1332.9135539165861,
+            581.0759772742185,
+            50.198384719279886
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1331.4135539165861,
+            578.4779010628652,
+            50.198384719279886
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1329.9135539165861,
+            575.8798248515118,
+            50.198384719279886
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1329.9135539165861,
+            575.8798248515118,
+            47.198384719279886
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1329.9135539165861,
+            575.8798248515118,
+            44.198384719279886
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1329.9135539165861,
+            575.8798248515118,
+            41.198384719279886
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1329.9135539165861,
+            575.8798248515118,
+            38.198384719279886
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1329.9135539165861,
+            575.8798248515118,
+            35.198384719279886
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1329.9135539165861,
+            575.8798248515118,
+            32.198384719279886
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1329.9135539165861,
+            575.8798248515118,
+            29.198384719279886
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1329.9135539165861,
+            575.8798248515118,
+            26.198384719279886
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1329.9135539165861,
+            575.8798248515118,
+            23.198384719279886
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1329.9135539165861,
+            575.8798248515118,
+            20.198384719279886
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1329.9135539165861,
+            575.8798248515118,
+            17.198384719279886
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1329.9135539165861,
+            575.8798248515118,
+            14.198384719279886
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1329.9135539165861,
+            575.8798248515118,
+            11.198384719279886
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1329.9135539165861,
+            575.8798248515118,
+            8.198384719279886
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1329.9135539165861,
+            575.8798248515118,
+            5.198384719279886
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1329.9135539165861,
+            575.8798248515118,
+            2.198384719279886
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "grid-like window pattern",
+        "position": [
+            1274.87453,
+            425.54301,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_19-1-44_660916487/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_19-1-44_660916487/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..dd42a980f58f643a38631ef710fe3d1be2595f77
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_19-1-44_660916487/pose.jsonl
@@ -0,0 +1,418 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -55.1256553669855,
+            1741.844319182055,
+            2.528860518049626
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -55.1256553669855,
+            1741.844319182055,
+            5.528860518049626
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -55.1256553669855,
+            1741.844319182055,
+            8.528860518049626
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -55.1256553669855,
+            1741.844319182055,
+            11.528860518049626
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -55.1256553669855,
+            1741.844319182055,
+            14.528860518049626
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -55.1256553669855,
+            1741.844319182055,
+            17.528860518049626
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -55.1256553669855,
+            1741.844319182055,
+            20.528860518049626
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -55.1256553669855,
+            1741.844319182055,
+            23.528860518049626
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -55.1256553669855,
+            1741.844319182055,
+            26.528860518049626
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -55.1256553669855,
+            1741.844319182055,
+            29.528860518049626
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -55.1256553669855,
+            1741.844319182055,
+            32.528860518049626
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -55.1256553669855,
+            1741.844319182055,
+            35.528860518049626
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -55.1256553669855,
+            1741.844319182055,
+            38.528860518049626
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -55.1256553669855,
+            1741.844319182055,
+            41.528860518049626
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -56.6256553669855,
+            1739.2462429707016,
+            41.528860518049626
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -58.1256553669855,
+            1736.6481667593482,
+            41.528860518049626
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -59.6256553669855,
+            1734.0500905479948,
+            41.528860518049626
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -61.1256553669855,
+            1731.4520143366415,
+            41.528860518049626
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -61.1256553669855,
+            1731.4520143366415,
+            38.528860518049626
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -61.1256553669855,
+            1731.4520143366415,
+            35.528860518049626
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -61.1256553669855,
+            1731.4520143366415,
+            32.528860518049626
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -61.1256553669855,
+            1731.4520143366415,
+            29.528860518049626
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -61.1256553669855,
+            1731.4520143366415,
+            26.528860518049626
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -61.1256553669855,
+            1731.4520143366415,
+            23.528860518049626
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -61.1256553669855,
+            1731.4520143366415,
+            20.528860518049626
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -61.1256553669855,
+            1731.4520143366415,
+            17.528860518049626
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -61.1256553669855,
+            1731.4520143366415,
+            14.528860518049626
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -61.1256553669855,
+            1731.4520143366415,
+            11.528860518049626
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -61.1256553669855,
+            1731.4520143366415,
+            8.528860518049626
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -61.1256553669855,
+            1731.4520143366415,
+            5.528860518049626
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -61.1256553669855,
+            1731.4520143366415,
+            2.528860518049626
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "classical architectural details",
+        "position": [
+            -148.91731,
+            1607.18453,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_20-20-58_1286966948/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_20-20-58_1286966948/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4787003f4fff2dd893063fc44491d108bb12aa64
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_20-20-58_1286966948/pose.jsonl
@@ -0,0 +1,1068 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1795.8684551855156,
+            -37.45055942994448,
+            1.5610919315787655
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1795.8684551855156,
+            -37.45055942994448,
+            4.5610919315787655
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1795.8684551855156,
+            -37.45055942994448,
+            7.5610919315787655
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1795.8684551855156,
+            -37.45055942994448,
+            10.561091931578765
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1795.8684551855156,
+            -37.45055942994448,
+            13.561091931578765
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1795.8684551855156,
+            -37.45055942994448,
+            16.561091931578765
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1795.8684551855156,
+            -37.45055942994448,
+            19.561091931578765
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1795.8684551855156,
+            -37.45055942994448,
+            22.561091931578765
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1795.8684551855156,
+            -37.45055942994448,
+            25.561091931578765
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1795.8684551855156,
+            -37.45055942994448,
+            28.561091931578765
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1795.8684551855156,
+            -37.45055942994448,
+            31.561091931578765
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1795.8684551855156,
+            -37.45055942994448,
+            34.561091931578765
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1795.8684551855156,
+            -37.45055942994448,
+            37.561091931578765
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1795.8684551855156,
+            -37.45055942994448,
+            40.561091931578765
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1795.8684551855156,
+            -37.45055942994448,
+            43.561091931578765
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1795.8684551855156,
+            -37.45055942994448,
+            46.561091931578765
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1795.8684551855156,
+            -37.45055942994448,
+            49.561091931578765
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1793.2703789741622,
+            -35.95055942994448,
+            49.561091931578765
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1790.6723027628088,
+            -34.45055942994448,
+            49.561091931578765
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1788.0742265514555,
+            -32.95055942994448,
+            49.561091931578765
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1785.476150340102,
+            -31.450559429944477,
+            49.561091931578765
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1782.8780741287487,
+            -29.950559429944477,
+            49.561091931578765
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1780.2799979173953,
+            -28.450559429944477,
+            49.561091931578765
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1777.681921706042,
+            -26.950559429944477,
+            49.561091931578765
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1775.0838454946886,
+            -25.450559429944477,
+            49.561091931578765
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1772.4857692833352,
+            -23.950559429944477,
+            49.561091931578765
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1769.8876930719819,
+            -22.450559429944477,
+            49.561091931578765
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1767.2896168606285,
+            -20.950559429944477,
+            49.561091931578765
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1764.691540649275,
+            -19.450559429944477,
+            49.561091931578765
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1762.0934644379217,
+            -17.950559429944477,
+            49.561091931578765
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1759.4953882265684,
+            -16.450559429944477,
+            49.561091931578765
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1756.897312015215,
+            -14.950559429944477,
+            49.561091931578765
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1754.2992358038616,
+            -13.450559429944477,
+            49.561091931578765
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1751.7011595925082,
+            -11.950559429944477,
+            49.561091931578765
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1749.1030833811549,
+            -10.450559429944477,
+            49.561091931578765
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1746.5050071698015,
+            -8.950559429944477,
+            49.561091931578765
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1743.9069309584481,
+            -7.450559429944477,
+            49.561091931578765
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1741.3088547470948,
+            -5.950559429944477,
+            49.561091931578765
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1738.7107785357414,
+            -4.450559429944477,
+            49.561091931578765
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1736.112702324388,
+            -2.9505594299444766,
+            49.561091931578765
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1733.5146261130346,
+            -1.4505594299444768,
+            49.561091931578765
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1730.9165499016813,
+            0.04944057005552294,
+            49.561091931578765
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1728.318473690328,
+            1.5494405700555227,
+            49.561091931578765
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1725.7203974789745,
+            3.0494405700555225,
+            49.561091931578765
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1723.1223212676211,
+            4.5494405700555225,
+            49.561091931578765
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1720.5242450562678,
+            6.0494405700555225,
+            49.561091931578765
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1717.9261688449144,
+            7.5494405700555225,
+            49.561091931578765
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1715.328092633561,
+            9.049440570055522,
+            49.561091931578765
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991504
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1712.7300164222077,
+            10.549440570055522,
+            49.561091931578765
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1710.1319402108543,
+            12.049440570055522,
+            49.561091931578765
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1707.533863999501,
+            13.549440570055522,
+            49.561091931578765
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            1704.9357877881475,
+            15.049440570055522,
+            49.561091931578765
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            1702.3377115767942,
+            16.54944057005552,
+            49.561091931578765
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991504
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            1699.7396353654408,
+            18.04944057005552,
+            49.561091931578765
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            1697.1415591540874,
+            19.54944057005552,
+            49.561091931578765
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            1694.543482942734,
+            21.04944057005552,
+            49.561091931578765
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            1694.543482942734,
+            21.04944057005552,
+            49.561091931578765
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            1691.543482942734,
+            21.04944057005552,
+            49.561091931578765
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            1688.543482942734,
+            21.04944057005552,
+            49.561091931578765
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            1685.543482942734,
+            21.04944057005552,
+            49.561091931578765
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            1682.543482942734,
+            21.04944057005552,
+            49.561091931578765
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            1679.543482942734,
+            21.04944057005552,
+            49.561091931578765
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            1676.543482942734,
+            21.04944057005552,
+            49.561091931578765
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            1673.543482942734,
+            21.04944057005552,
+            49.561091931578765
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            1670.543482942734,
+            21.04944057005552,
+            49.561091931578765
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            1670.543482942734,
+            21.04944057005552,
+            46.561091931578765
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            1670.543482942734,
+            21.04944057005552,
+            43.561091931578765
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            1670.543482942734,
+            21.04944057005552,
+            40.561091931578765
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            1670.543482942734,
+            21.04944057005552,
+            37.561091931578765
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            1670.543482942734,
+            21.04944057005552,
+            34.561091931578765
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            1670.543482942734,
+            21.04944057005552,
+            31.561091931578765
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            1670.543482942734,
+            21.04944057005552,
+            28.561091931578765
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            1670.543482942734,
+            21.04944057005552,
+            25.561091931578765
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            1670.543482942734,
+            21.04944057005552,
+            22.561091931578765
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            1670.543482942734,
+            21.04944057005552,
+            19.561091931578765
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            1670.543482942734,
+            21.04944057005552,
+            16.561091931578765
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            1670.543482942734,
+            21.04944057005552,
+            13.561091931578765
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            1670.543482942734,
+            21.04944057005552,
+            10.561091931578765
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            1670.543482942734,
+            21.04944057005552,
+            7.5610919315787655
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 79,
+        "pos": [
+            1670.543482942734,
+            21.04944057005552,
+            4.5610919315787655
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 80,
+        "pos": [
+            1670.543482942734,
+            21.04944057005552,
+            1.5610919315787655
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "dark",
+        "feature": "grid-like facade",
+        "position": [
+            1647.64109,
+            32.178560000000004,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_20-47-3_845954166/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_20-47-3_845954166/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ad1a81a24a0b38cefe0cf638f353a6352a2de2c3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_20-47-3_845954166/pose.jsonl
@@ -0,0 +1,639 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1857.2280991096306,
+            578.2970014535631,
+            1.1461582996471122
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1857.2280991096306,
+            578.2970014535631,
+            4.146158299647112
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1857.2280991096306,
+            578.2970014535631,
+            7.146158299647112
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1857.2280991096306,
+            578.2970014535631,
+            10.146158299647112
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1857.2280991096306,
+            578.2970014535631,
+            13.146158299647112
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1857.2280991096306,
+            578.2970014535631,
+            16.146158299647112
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1857.2280991096306,
+            578.2970014535631,
+            19.146158299647112
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1857.2280991096306,
+            578.2970014535631,
+            22.146158299647112
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1857.2280991096306,
+            578.2970014535631,
+            25.146158299647112
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1857.2280991096306,
+            578.2970014535631,
+            28.146158299647112
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1857.2280991096306,
+            578.2970014535631,
+            31.146158299647112
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1857.2280991096306,
+            578.2970014535631,
+            34.14615829964711
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1857.2280991096306,
+            578.2970014535631,
+            37.14615829964711
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1857.2280991096306,
+            578.2970014535631,
+            40.14615829964711
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1857.2280991096306,
+            578.2970014535631,
+            43.14615829964711
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1857.2280991096306,
+            578.2970014535631,
+            46.14615829964711
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1857.2280991096306,
+            578.2970014535631,
+            49.14615829964711
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1857.2280991096306,
+            578.2970014535631,
+            52.14615829964711
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1855.7280991096306,
+            580.8950776649165,
+            52.14615829964711
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1854.2280991096306,
+            583.4931538762698,
+            52.14615829964711
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1852.7280991096306,
+            586.0912300876232,
+            52.14615829964711
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1851.2280991096306,
+            588.6893062989766,
+            52.14615829964711
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1849.7280991096306,
+            591.28738251033,
+            52.14615829964711
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1848.2280991096306,
+            593.8854587216833,
+            52.14615829964711
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1846.7280991096306,
+            596.4835349330367,
+            52.14615829964711
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1845.2280991096306,
+            599.0816111443901,
+            52.14615829964711
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1843.7280991096306,
+            601.6796873557435,
+            52.14615829964711
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1843.7280991096306,
+            601.6796873557435,
+            52.14615829964711
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1843.7280991096306,
+            604.6796873557435,
+            52.14615829964711
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1843.7280991096306,
+            607.6796873557435,
+            52.14615829964711
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1843.7280991096306,
+            610.6796873557435,
+            52.14615829964711
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1843.7280991096306,
+            610.6796873557435,
+            49.14615829964711
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1843.7280991096306,
+            610.6796873557435,
+            46.14615829964711
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1843.7280991096306,
+            610.6796873557435,
+            43.14615829964711
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1843.7280991096306,
+            610.6796873557435,
+            40.14615829964711
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1843.7280991096306,
+            610.6796873557435,
+            37.14615829964711
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1843.7280991096306,
+            610.6796873557435,
+            34.14615829964711
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1843.7280991096306,
+            610.6796873557435,
+            31.146158299647112
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1843.7280991096306,
+            610.6796873557435,
+            28.146158299647112
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1843.7280991096306,
+            610.6796873557435,
+            25.146158299647112
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1843.7280991096306,
+            610.6796873557435,
+            22.146158299647112
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1843.7280991096306,
+            610.6796873557435,
+            19.146158299647112
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -1843.7280991096306,
+            610.6796873557435,
+            16.146158299647112
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -1843.7280991096306,
+            610.6796873557435,
+            13.146158299647112
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -1843.7280991096306,
+            610.6796873557435,
+            10.146158299647112
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -1843.7280991096306,
+            610.6796873557435,
+            7.146158299647112
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -1843.7280991096306,
+            610.6796873557435,
+            4.146158299647112
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -1843.7280991096306,
+            610.6796873557435,
+            1.1461582996471122
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "beige",
+        "feature": "glass windows",
+        "position": [
+            -1794.76312,
+            732.44406,
+            0.0
+        ],
+        "shape": "cylindrical",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-45-45_1446648412/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-45-45_1446648412/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ddb0b316ad27afc6bbdb9779c15e4d40174d9179
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-45-45_1446648412/pose.jsonl
@@ -0,0 +1,561 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1104.9486909796385,
+            1747.4037972993153,
+            2.914739067356301
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1104.9486909796385,
+            1747.4037972993153,
+            5.914739067356301
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1104.9486909796385,
+            1747.4037972993153,
+            8.914739067356301
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1104.9486909796385,
+            1747.4037972993153,
+            11.914739067356301
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1104.9486909796385,
+            1747.4037972993153,
+            14.914739067356301
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1104.9486909796385,
+            1747.4037972993153,
+            17.9147390673563
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1104.9486909796385,
+            1747.4037972993153,
+            20.9147390673563
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1104.9486909796385,
+            1747.4037972993153,
+            23.9147390673563
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1104.9486909796385,
+            1747.4037972993153,
+            26.9147390673563
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1104.9486909796385,
+            1747.4037972993153,
+            29.9147390673563
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1104.9486909796385,
+            1747.4037972993153,
+            32.9147390673563
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1104.9486909796385,
+            1747.4037972993153,
+            35.9147390673563
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1104.9486909796385,
+            1747.4037972993153,
+            38.9147390673563
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1104.9486909796385,
+            1747.4037972993153,
+            41.9147390673563
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1104.9486909796385,
+            1747.4037972993153,
+            44.9147390673563
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1104.9486909796385,
+            1747.4037972993153,
+            47.9147390673563
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1104.9486909796385,
+            1747.4037972993153,
+            50.9147390673563
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1104.9486909796385,
+            1747.4037972993153,
+            53.9147390673563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1107.5467671909919,
+            1745.9037972993153,
+            53.9147390673563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1110.1448434023453,
+            1744.4037972993153,
+            53.9147390673563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1112.7429196136986,
+            1742.9037972993153,
+            53.9147390673563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1115.340995825052,
+            1741.4037972993153,
+            53.9147390673563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1117.9390720364054,
+            1739.9037972993153,
+            53.9147390673563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1120.5371482477588,
+            1738.4037972993153,
+            53.9147390673563
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1123.1352244591121,
+            1736.9037972993153,
+            53.9147390673563
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1123.1352244591121,
+            1736.9037972993153,
+            50.9147390673563
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1123.1352244591121,
+            1736.9037972993153,
+            47.9147390673563
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1123.1352244591121,
+            1736.9037972993153,
+            44.9147390673563
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1123.1352244591121,
+            1736.9037972993153,
+            41.9147390673563
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1123.1352244591121,
+            1736.9037972993153,
+            38.9147390673563
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1123.1352244591121,
+            1736.9037972993153,
+            35.9147390673563
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1123.1352244591121,
+            1736.9037972993153,
+            32.9147390673563
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1123.1352244591121,
+            1736.9037972993153,
+            29.9147390673563
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1123.1352244591121,
+            1736.9037972993153,
+            26.9147390673563
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1123.1352244591121,
+            1736.9037972993153,
+            23.9147390673563
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1123.1352244591121,
+            1736.9037972993153,
+            20.9147390673563
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1123.1352244591121,
+            1736.9037972993153,
+            17.9147390673563
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1123.1352244591121,
+            1736.9037972993153,
+            14.914739067356301
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1123.1352244591121,
+            1736.9037972993153,
+            11.914739067356301
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1123.1352244591121,
+            1736.9037972993153,
+            8.914739067356301
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1123.1352244591121,
+            1736.9037972993153,
+            5.914739067356301
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1123.1352244591121,
+            1736.9037972993153,
+            2.914739067356301
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "dark",
+        "feature": "glass facade",
+        "position": [
+            -1250.28391,
+            1680.07734,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-17_0-54-48_627510635/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-17_0-54-48_627510635/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3a2c37c983d6f516fae467262b49f187b8011f5c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-17_0-54-48_627510635/pose.jsonl
@@ -0,0 +1,990 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1729.216742489451,
+            234.1003737801978,
+            0.739202147670639
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1729.216742489451,
+            234.1003737801978,
+            3.739202147670639
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1729.216742489451,
+            234.1003737801978,
+            6.739202147670639
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1729.216742489451,
+            234.1003737801978,
+            9.739202147670639
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1729.216742489451,
+            234.1003737801978,
+            12.739202147670639
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1729.216742489451,
+            234.1003737801978,
+            15.739202147670639
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1729.216742489451,
+            234.1003737801978,
+            18.73920214767064
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1729.216742489451,
+            234.1003737801978,
+            21.73920214767064
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1729.216742489451,
+            234.1003737801978,
+            24.73920214767064
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1729.216742489451,
+            234.1003737801978,
+            27.73920214767064
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1729.216742489451,
+            234.1003737801978,
+            30.73920214767064
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1729.216742489451,
+            234.1003737801978,
+            33.73920214767064
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1729.216742489451,
+            234.1003737801978,
+            36.73920214767064
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1729.216742489451,
+            234.1003737801978,
+            39.73920214767064
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1729.216742489451,
+            234.1003737801978,
+            42.73920214767064
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1729.216742489451,
+            234.1003737801978,
+            45.73920214767064
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1729.216742489451,
+            234.1003737801978,
+            48.73920214767064
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1729.216742489451,
+            234.1003737801978,
+            51.73920214767064
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1729.216742489451,
+            234.1003737801978,
+            54.73920214767064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1727.716742489451,
+            236.69844999155112,
+            54.73920214767064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1726.216742489451,
+            239.29652620290443,
+            54.73920214767064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1724.716742489451,
+            241.89460241425775,
+            54.73920214767064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1723.216742489451,
+            244.49267862561106,
+            54.73920214767064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1721.716742489451,
+            247.09075483696438,
+            54.73920214767064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1720.216742489451,
+            249.6888310483177,
+            54.73920214767064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1718.716742489451,
+            252.286907259671,
+            54.73920214767064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1717.216742489451,
+            254.88498347102433,
+            54.73920214767064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1715.716742489451,
+            257.48305968237764,
+            54.73920214767064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1714.216742489451,
+            260.08113589373096,
+            54.73920214767064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1712.716742489451,
+            262.6792121050843,
+            54.73920214767064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1711.216742489451,
+            265.2772883164376,
+            54.73920214767064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1709.716742489451,
+            267.8753645277909,
+            54.73920214767064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1708.216742489451,
+            270.4734407391442,
+            54.73920214767064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1706.716742489451,
+            273.07151695049754,
+            54.73920214767064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1705.216742489451,
+            275.66959316185086,
+            54.73920214767064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1703.716742489451,
+            278.26766937320417,
+            54.73920214767064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1702.216742489451,
+            280.8657455845575,
+            54.73920214767064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1700.716742489451,
+            283.4638217959108,
+            54.73920214767064
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1700.716742489451,
+            283.4638217959108,
+            54.73920214767064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1698.1186662780976,
+            284.9638217959108,
+            54.73920214767064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1695.5205900667443,
+            286.4638217959108,
+            54.73920214767064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1692.922513855391,
+            287.9638217959108,
+            54.73920214767064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -1690.3244376440375,
+            289.4638217959108,
+            54.73920214767064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -1687.7263614326841,
+            290.9638217959108,
+            54.73920214767064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -1685.1282852213308,
+            292.4638217959108,
+            54.73920214767064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -1682.5302090099774,
+            293.9638217959108,
+            54.73920214767064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -1679.932132798624,
+            295.4638217959108,
+            54.73920214767064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -1677.3340565872707,
+            296.9638217959108,
+            54.73920214767064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -1674.7359803759173,
+            298.4638217959108,
+            54.73920214767064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -1672.137904164564,
+            299.9638217959108,
+            54.73920214767064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -1669.5398279532105,
+            301.4638217959108,
+            54.73920214767064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -1666.9417517418572,
+            302.9638217959108,
+            54.73920214767064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -1664.3436755305038,
+            304.4638217959108,
+            54.73920214767064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -1661.7455993191504,
+            305.9638217959108,
+            54.73920214767064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -1659.147523107797,
+            307.4638217959108,
+            54.73920214767064
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -1659.147523107797,
+            307.4638217959108,
+            54.73920214767064
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -1657.647523107797,
+            310.0618980072641,
+            54.73920214767064
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -1657.647523107797,
+            310.0618980072641,
+            51.73920214767064
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -1657.647523107797,
+            310.0618980072641,
+            48.73920214767064
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            -1657.647523107797,
+            310.0618980072641,
+            45.73920214767064
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            -1657.647523107797,
+            310.0618980072641,
+            42.73920214767064
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            -1657.647523107797,
+            310.0618980072641,
+            39.73920214767064
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            -1657.647523107797,
+            310.0618980072641,
+            36.73920214767064
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            -1657.647523107797,
+            310.0618980072641,
+            33.73920214767064
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            -1657.647523107797,
+            310.0618980072641,
+            30.73920214767064
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            -1657.647523107797,
+            310.0618980072641,
+            27.73920214767064
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            -1657.647523107797,
+            310.0618980072641,
+            24.73920214767064
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            -1657.647523107797,
+            310.0618980072641,
+            21.73920214767064
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            -1657.647523107797,
+            310.0618980072641,
+            18.73920214767064
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            -1657.647523107797,
+            310.0618980072641,
+            15.739202147670639
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            -1657.647523107797,
+            310.0618980072641,
+            12.739202147670639
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            -1657.647523107797,
+            310.0618980072641,
+            9.739202147670639
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            -1657.647523107797,
+            310.0618980072641,
+            6.739202147670639
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            -1657.647523107797,
+            310.0618980072641,
+            3.739202147670639
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            -1657.647523107797,
+            310.0618980072641,
+            0.739202147670639
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "aim_landmark": {
+        "color": "dark",
+        "feature": "grid-like facade",
+        "position": [
+            -1620.1315599999998,
+            352.0657,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-17_1-16-37_1989200801/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-17_1-16-37_1989200801/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e5c1c6de8b769bc667df48c0ba68c2c101399395
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-17_1-16-37_1989200801/pose.jsonl
@@ -0,0 +1,1042 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1970.8307335983689,
+            1317.161788900909,
+            1.189201787505624
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1970.8307335983689,
+            1317.161788900909,
+            4.189201787505624
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1970.8307335983689,
+            1317.161788900909,
+            7.189201787505624
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1970.8307335983689,
+            1317.161788900909,
+            10.189201787505624
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1970.8307335983689,
+            1317.161788900909,
+            13.189201787505624
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1970.8307335983689,
+            1317.161788900909,
+            16.189201787505624
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1970.8307335983689,
+            1317.161788900909,
+            19.189201787505624
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1970.8307335983689,
+            1317.161788900909,
+            22.189201787505624
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1970.8307335983689,
+            1317.161788900909,
+            25.189201787505624
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1970.8307335983689,
+            1317.161788900909,
+            28.189201787505624
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1970.8307335983689,
+            1317.161788900909,
+            31.189201787505624
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1970.8307335983689,
+            1317.161788900909,
+            34.189201787505624
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1970.8307335983689,
+            1317.161788900909,
+            37.189201787505624
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1970.8307335983689,
+            1317.161788900909,
+            40.189201787505624
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1970.8307335983689,
+            1317.161788900909,
+            43.189201787505624
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1970.8307335983689,
+            1317.161788900909,
+            46.189201787505624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1968.2326573870155,
+            1318.661788900909,
+            46.189201787505624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1965.634581175662,
+            1320.161788900909,
+            46.189201787505624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1963.0365049643087,
+            1321.661788900909,
+            46.189201787505624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1960.4384287529554,
+            1323.161788900909,
+            46.189201787505624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1957.840352541602,
+            1324.661788900909,
+            46.189201787505624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1955.2422763302486,
+            1326.161788900909,
+            46.189201787505624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1952.6442001188952,
+            1327.661788900909,
+            46.189201787505624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1950.0461239075419,
+            1329.161788900909,
+            46.189201787505624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1947.4480476961885,
+            1330.661788900909,
+            46.189201787505624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1944.8499714848351,
+            1332.161788900909,
+            46.189201787505624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1942.2518952734818,
+            1333.661788900909,
+            46.189201787505624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1939.6538190621284,
+            1335.161788900909,
+            46.189201787505624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1937.055742850775,
+            1336.661788900909,
+            46.189201787505624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1934.4576666394216,
+            1338.161788900909,
+            46.189201787505624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1931.8595904280683,
+            1339.661788900909,
+            46.189201787505624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1929.2615142167149,
+            1341.161788900909,
+            46.189201787505624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1926.6634380053615,
+            1342.661788900909,
+            46.189201787505624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1924.0653617940081,
+            1344.161788900909,
+            46.189201787505624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1921.4672855826548,
+            1345.661788900909,
+            46.189201787505624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1918.8692093713014,
+            1347.161788900909,
+            46.189201787505624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1916.271133159948,
+            1348.661788900909,
+            46.189201787505624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1913.6730569485946,
+            1350.161788900909,
+            46.189201787505624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1911.0749807372413,
+            1351.661788900909,
+            46.189201787505624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1908.476904525888,
+            1353.161788900909,
+            46.189201787505624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1905.8788283145345,
+            1354.661788900909,
+            46.189201787505624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1903.2807521031812,
+            1356.161788900909,
+            46.189201787505624
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1903.2807521031812,
+            1356.161788900909,
+            46.189201787505624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1901.7807521031812,
+            1358.7598651122623,
+            46.189201787505624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1900.2807521031812,
+            1361.3579413236157,
+            46.189201787505624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1898.7807521031812,
+            1363.956017534969,
+            46.189201787505624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1897.2807521031812,
+            1366.5540937463225,
+            46.189201787505624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1895.7807521031812,
+            1369.1521699576758,
+            46.189201787505624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1894.2807521031812,
+            1371.7502461690292,
+            46.189201787505624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1892.7807521031812,
+            1374.3483223803826,
+            46.189201787505624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1891.2807521031812,
+            1376.946398591736,
+            46.189201787505624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            1889.7807521031812,
+            1379.5444748030893,
+            46.189201787505624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            1888.2807521031812,
+            1382.1425510144427,
+            46.189201787505624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            1886.7807521031812,
+            1384.740627225796,
+            46.189201787505624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            1885.2807521031812,
+            1387.3387034371494,
+            46.189201787505624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            1883.7807521031812,
+            1389.9367796485028,
+            46.189201787505624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            1882.2807521031812,
+            1392.5348558598562,
+            46.189201787505624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            1880.7807521031812,
+            1395.1329320712096,
+            46.189201787505624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            1879.2807521031812,
+            1397.731008282563,
+            46.189201787505624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            1877.7807521031812,
+            1400.3290844939163,
+            46.189201787505624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            1876.2807521031812,
+            1402.9271607052697,
+            46.189201787505624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            1874.7807521031812,
+            1405.525236916623,
+            46.189201787505624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            1873.2807521031812,
+            1408.1233131279764,
+            46.189201787505624
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            1871.7807521031812,
+            1410.7213893393298,
+            46.189201787505624
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            1871.7807521031812,
+            1410.7213893393298,
+            43.189201787505624
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            1871.7807521031812,
+            1410.7213893393298,
+            40.189201787505624
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            1871.7807521031812,
+            1410.7213893393298,
+            37.189201787505624
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            1871.7807521031812,
+            1410.7213893393298,
+            34.189201787505624
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            1871.7807521031812,
+            1410.7213893393298,
+            31.189201787505624
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            1871.7807521031812,
+            1410.7213893393298,
+            28.189201787505624
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 70,
+        "pos": [
+            1871.7807521031812,
+            1410.7213893393298,
+            25.189201787505624
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 71,
+        "pos": [
+            1871.7807521031812,
+            1410.7213893393298,
+            22.189201787505624
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 72,
+        "pos": [
+            1871.7807521031812,
+            1410.7213893393298,
+            19.189201787505624
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 73,
+        "pos": [
+            1871.7807521031812,
+            1410.7213893393298,
+            16.189201787505624
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 74,
+        "pos": [
+            1871.7807521031812,
+            1410.7213893393298,
+            13.189201787505624
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 75,
+        "pos": [
+            1871.7807521031812,
+            1410.7213893393298,
+            10.189201787505624
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 76,
+        "pos": [
+            1871.7807521031812,
+            1410.7213893393298,
+            7.189201787505624
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 77,
+        "pos": [
+            1871.7807521031812,
+            1410.7213893393298,
+            4.189201787505624
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 78,
+        "pos": [
+            1871.7807521031812,
+            1410.7213893393298,
+            1.189201787505624
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "curved windows",
+        "position": [
+            1850.76719,
+            1427.02422,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-17_2-33-11_753959819/20250117_023453.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-17_2-33-11_753959819/20250117_023453.png
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-17_2-33-11_753959819/20250117_023455.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-17_2-33-11_753959819/20250117_023455.png
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391