diff --git a/Image/env_airsim_18/astar_data/high_short/2025-1-9_15-51-38_1804289383/pose.jsonl b/Image/env_airsim_18/astar_data/high_short/2025-1-9_15-51-38_1804289383/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2217dcd9198f14c2d330a7a7199993008b60166a
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/high_short/2025-1-9_15-51-38_1804289383/pose.jsonl
@@ -0,0 +1,288 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1036.876537645956,
+            864.7289479188933,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1039.876537645956,
+            864.7289479188933,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1042.876537645956,
+            864.7289479188933,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1045.876537645956,
+            864.7289479188933,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1048.876537645956,
+            864.7289479188933,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1051.876537645956,
+            864.7289479188933,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1054.876537645956,
+            864.7289479188933,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1057.876537645956,
+            864.7289479188933,
+            36.154775318277345
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1057.876537645956,
+            864.7289479188933,
+            36.154775318277345
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1057.876537645956,
+            864.7289479188933,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1059.376537645956,
+            867.3270241302466,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1060.876537645956,
+            869.9251003416,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1062.376537645956,
+            872.5231765529534,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1063.876537645956,
+            875.1212527643067,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1065.376537645956,
+            877.7193289756601,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1066.876537645956,
+            880.3174051870135,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1068.376537645956,
+            882.9154813983669,
+            36.154775318277345
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1068.376537645956,
+            882.9154813983669,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1070.9746138573094,
+            884.4154813983669,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1073.5726900686627,
+            885.9154813983669,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1076.170766280016,
+            887.4154813983669,
+            36.154775318277345
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1096.0,
+            896.0,
+            34.2564
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/high_short/2025-1-9_16-1-35_149798315/pose.jsonl b/Image/env_airsim_18/astar_data/high_short/2025-1-9_16-1-35_149798315/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b6e0df6f33011ab2e4cc766b9c235b20cada8bb9
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/high_short/2025-1-9_16-1-35_149798315/pose.jsonl
@@ -0,0 +1,262 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1090.79112879678,
+            965.1213746168557,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1090.79112879678,
+            962.1213746168557,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1090.79112879678,
+            959.1213746168557,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1090.79112879678,
+            956.1213746168557,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1090.79112879678,
+            953.1213746168557,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1090.79112879678,
+            950.1213746168557,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1090.79112879678,
+            947.1213746168557,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1090.79112879678,
+            944.1213746168557,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1090.79112879678,
+            941.1213746168557,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1090.79112879678,
+            938.1213746168557,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1090.79112879678,
+            935.1213746168557,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1090.79112879678,
+            932.1213746168557,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1090.79112879678,
+            929.1213746168557,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1090.79112879678,
+            926.1213746168557,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1090.79112879678,
+            923.1213746168557,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1090.79112879678,
+            920.1213746168557,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1090.79112879678,
+            917.1213746168557,
+            36.154775318277345
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1090.79112879678,
+            917.1213746168557,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1092.29112879678,
+            914.5232984055024,
+            36.154775318277345
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1096.0,
+            896.0,
+            34.2564
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/high_short/2025-1-9_16-20-4_1120048829/pose.jsonl b/Image/env_airsim_18/astar_data/high_short/2025-1-9_16-20-4_1120048829/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5a5f47f09cfb959787cba84f16c952e8a7bd58b9
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/high_short/2025-1-9_16-20-4_1120048829/pose.jsonl
@@ -0,0 +1,210 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1840.9069777198392,
+            230.18058618686942,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1842.4069777198392,
+            227.5825099755161,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1843.9069777198392,
+            224.9844337641628,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1845.4069777198392,
+            222.38635755280947,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1846.9069777198392,
+            219.78828134145616,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1848.4069777198392,
+            217.19020513010284,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1849.9069777198392,
+            214.59212891874952,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1851.4069777198392,
+            211.9940527073962,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1852.9069777198392,
+            209.3959764960429,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1854.4069777198392,
+            206.79790028468958,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1855.9069777198392,
+            204.19982407333626,
+            36.154775318277345
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1855.9069777198392,
+            204.19982407333626,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1855.9069777198392,
+            201.19982407333626,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1855.9069777198392,
+            198.19982407333626,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1855.9069777198392,
+            195.19982407333626,
+            36.154775318277345
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1868.0,
+            168.0,
+            104.903
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/high_short/2025-1-9_16-27-9_1186452551/pose.jsonl b/Image/env_airsim_18/astar_data/high_short/2025-1-9_16-27-9_1186452551/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e6262d73e6345edcf4c493a3b7ecbbd5306cf242
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/high_short/2025-1-9_16-27-9_1186452551/pose.jsonl
@@ -0,0 +1,80 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            936.1718227803209,
+            367.4624165728264,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            936.1718227803209,
+            370.4624165728264,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            936.1718227803209,
+            373.4624165728264,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            936.1718227803209,
+            376.4624165728264,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            936.1718227803209,
+            379.4624165728264,
+            36.154775318277345
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            948.0,
+            464.0,
+            139.324
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/high_short/2025-1-9_16-39-26_1034949299/pose.jsonl b/Image/env_airsim_18/astar_data/high_short/2025-1-9_16-39-26_1034949299/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0302953de25ae4135faaee5f5ab0e4298af3bb55
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/high_short/2025-1-9_16-39-26_1034949299/pose.jsonl
@@ -0,0 +1,275 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1954.1840047497637,
+            455.8450237520508,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1955.6840047497637,
+            453.2469475406975,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1957.1840047497637,
+            450.64887132934416,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1958.6840047497637,
+            448.05079511799084,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1960.1840047497637,
+            445.45271890663753,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1961.6840047497637,
+            442.8546426952842,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1963.1840047497637,
+            440.2565664839309,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1964.6840047497637,
+            437.6584902725776,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1966.1840047497637,
+            435.06041406122426,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1967.6840047497637,
+            432.46233784987095,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1969.1840047497637,
+            429.86426163851763,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1970.6840047497637,
+            427.2661854271643,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1972.1840047497637,
+            424.668109215811,
+            36.154775318277345
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1972.1840047497637,
+            424.668109215811,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1974.7820809611171,
+            423.168109215811,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1977.3801571724705,
+            421.668109215811,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1979.9782333838239,
+            420.168109215811,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1982.5763095951772,
+            418.668109215811,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1985.1743858065306,
+            417.168109215811,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1987.772462017884,
+            415.668109215811,
+            36.154775318277345
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            2004.0,
+            400.0,
+            26.235
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/high_short/2025-1-9_16-46-4_1665947468/pose.jsonl b/Image/env_airsim_18/astar_data/high_short/2025-1-9_16-46-4_1665947468/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5e57ae36548479efd18581c73d67a6d58b39e494
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/high_short/2025-1-9_16-46-4_1665947468/pose.jsonl
@@ -0,0 +1,197 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1961.5830945333385,
+            422.00706238425084,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1960.0830945333385,
+            419.4089861728975,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1958.5830945333385,
+            416.8109099615442,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1957.0830945333385,
+            414.2128337501909,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1955.5830945333385,
+            411.6147575388376,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1954.0830945333385,
+            409.01668132748426,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1952.5830945333385,
+            406.41860511613095,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1951.0830945333385,
+            403.82052890477763,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1949.5830945333385,
+            401.2224526934243,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1948.0830945333385,
+            398.624376482071,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1946.5830945333385,
+            396.0263002707177,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1945.0830945333385,
+            393.42822405936437,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1943.5830945333385,
+            390.83014784801105,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1942.0830945333385,
+            388.23207163665774,
+            36.154775318277345
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1924.0,
+            356.0,
+            28.504
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/high_short/2025-1-9_16-49-43_2025187190/pose.jsonl b/Image/env_airsim_18/astar_data/high_short/2025-1-9_16-49-43_2025187190/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..27f5482944bee56905386f28a10e6dd9e7bd4997
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/high_short/2025-1-9_16-49-43_2025187190/pose.jsonl
@@ -0,0 +1,275 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -75.35266219103484,
+            432.1686201341571,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -73.85266219103484,
+            429.5705439228038,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -72.35266219103484,
+            426.97246771145046,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -70.85266219103484,
+            424.37439150009715,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -69.35266219103484,
+            421.77631528874383,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -67.85266219103484,
+            419.1782390773905,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -66.35266219103484,
+            416.5801628660372,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -64.85266219103484,
+            413.9820866546839,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -63.35266219103484,
+            411.38401044333057,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -61.85266219103484,
+            408.78593423197725,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -60.35266219103484,
+            406.18785802062393,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -58.85266219103484,
+            403.5897818092706,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -57.35266219103484,
+            400.9917055979173,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -55.85266219103484,
+            398.393629386564,
+            36.154775318277345
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -55.85266219103484,
+            398.393629386564,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -53.25458597968152,
+            396.893629386564,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -50.656509768328206,
+            395.393629386564,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -48.05843355697489,
+            393.893629386564,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -45.460357345621574,
+            392.393629386564,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -42.86228113426826,
+            390.893629386564,
+            36.154775318277345
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -28.0,
+            372.0,
+            30.9954
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/high_short/2025-1-9_16-58-15_1307565984/pose.jsonl b/Image/env_airsim_18/astar_data/high_short/2025-1-9_16-58-15_1307565984/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..eebd5e7aa4df0259546a4d6d6052777157b82a90
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/high_short/2025-1-9_16-58-15_1307565984/pose.jsonl
@@ -0,0 +1,171 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -12.59601644033598,
+            12.478113846135507,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -11.09601644033598,
+            9.880037634782191,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -9.59601644033598,
+            7.281961423428875,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -8.09601644033598,
+            4.683885212075559,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -6.59601644033598,
+            2.085809000722243,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -5.09601644033598,
+            -0.5122672106310731,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -3.5960164403359793,
+            -3.110343421984389,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -2.096016440335979,
+            -5.708419633337705,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -0.5960164403359784,
+            -8.306495844691021,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            0.903983559664022,
+            -10.904572056044337,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            2.4039835596640224,
+            -13.502648267397653,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            3.903983559664023,
+            -16.10072447875097,
+            36.154775318277345
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            20.0,
+            -40.0,
+            31.11
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/high_short/2025-1-9_17-12-32_1129033333/pose.jsonl b/Image/env_airsim_18/astar_data/high_short/2025-1-9_17-12-32_1129033333/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..54b81e7e853e13250239efb84bbd2f47fd42143f
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/high_short/2025-1-9_17-12-32_1129033333/pose.jsonl
@@ -0,0 +1,249 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -10.1167759765431,
+            27.925877368141713,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -8.6167759765431,
+            25.327801156788396,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -7.116775976543099,
+            22.72972494543508,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -5.616775976543099,
+            20.131648734081764,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -4.116775976543099,
+            17.53357252272845,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -2.616775976543099,
+            14.935496311375132,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1.1167759765430985,
+            12.337420100021816,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            0.383224023456902,
+            9.7393438886685,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1.8832240234569024,
+            7.141267677315184,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            3.383224023456903,
+            4.543191465961868,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            4.883224023456903,
+            1.9451152546085524,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            6.383224023456904,
+            -0.6529609567447636,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965974
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            7.883224023456904,
+            -3.2510371680980796,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            9.383224023456904,
+            -5.849113379451396,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            10.883224023456904,
+            -8.447189590804712,
+            36.154775318277345
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            10.883224023456904,
+            -8.447189590804712,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            10.883224023456904,
+            -11.447189590804712,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            10.883224023456904,
+            -14.447189590804712,
+            36.154775318277345
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            20.0,
+            -40.0,
+            31.11
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/high_short/2025-1-9_17-15-31_739273303/pose.jsonl b/Image/env_airsim_18/astar_data/high_short/2025-1-9_17-15-31_739273303/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..18acc14885f452122511d9f2adb2459ab085b41c
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/high_short/2025-1-9_17-15-31_739273303/pose.jsonl
@@ -0,0 +1,93 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1159.4471590986764,
+            512.3154148334869,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1162.0452353100297,
+            510.8154148334869,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1164.643311521383,
+            509.3154148334869,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1167.2413877327365,
+            507.8154148334869,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1169.8394639440899,
+            506.3154148334869,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1172.4375401554432,
+            504.8154148334869,
+            36.154775318277345
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1236.0,
+            456.0,
+            148.475
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/high_short/2025-1-9_17-16-36_1344247686/pose.jsonl b/Image/env_airsim_18/astar_data/high_short/2025-1-9_17-16-36_1344247686/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d18cfe622ea3f16b91c981a3965482d644cf87ca
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/high_short/2025-1-9_17-16-36_1344247686/pose.jsonl
@@ -0,0 +1,184 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1972.763840634631,
+            -124.75598385766392,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1972.763840634631,
+            -121.75598385766392,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1972.763840634631,
+            -118.75598385766392,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1972.763840634631,
+            -115.75598385766392,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1972.763840634631,
+            -112.75598385766392,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1972.763840634631,
+            -109.75598385766392,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1972.763840634631,
+            -106.75598385766392,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1972.763840634631,
+            -103.75598385766392,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1972.763840634631,
+            -100.75598385766392,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1972.763840634631,
+            -97.75598385766392,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1972.763840634631,
+            -94.75598385766392,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1972.763840634631,
+            -91.75598385766392,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1972.763840634631,
+            -88.75598385766392,
+            36.154775318277345
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1976.0,
+            -64.0,
+            50.1663
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/high_short/2025-1-9_17-18-3_1545032460/pose.jsonl b/Image/env_airsim_18/astar_data/high_short/2025-1-9_17-18-3_1545032460/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..95c025b85c45700eb71624266e4f65e515e00ac6
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/high_short/2025-1-9_17-18-3_1545032460/pose.jsonl
@@ -0,0 +1,236 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1161.8837185605903,
+            862.5546825404987,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1159.285642349237,
+            864.0546825404987,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1156.6875661378836,
+            865.5546825404987,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1154.0894899265302,
+            867.0546825404987,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1151.4914137151768,
+            868.5546825404987,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1148.8933375038234,
+            870.0546825404987,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1146.29526129247,
+            871.5546825404987,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1143.6971850811167,
+            873.0546825404987,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1141.0991088697633,
+            874.5546825404987,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1138.50103265841,
+            876.0546825404987,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1135.9029564470566,
+            877.5546825404987,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1133.3048802357032,
+            879.0546825404987,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1130.7068040243498,
+            880.5546825404987,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1128.1087278129964,
+            882.0546825404987,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1125.510651601643,
+            883.5546825404987,
+            36.154775318277345
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1125.510651601643,
+            883.5546825404987,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1122.510651601643,
+            883.5546825404987,
+            36.154775318277345
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1096.0,
+            896.0,
+            34.2564
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/high_short/2025-1-9_17-21-18_1186090428/pose.jsonl b/Image/env_airsim_18/astar_data/high_short/2025-1-9_17-21-18_1186090428/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..aecb39bd227fbbdb03318ec47fffb5e665a016bc
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/high_short/2025-1-9_17-21-18_1186090428/pose.jsonl
@@ -0,0 +1,340 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1750.5650593396563,
+            43.03535780568441,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1753.5650593396563,
+            43.03535780568441,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1756.5650593396563,
+            43.03535780568441,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1759.5650593396563,
+            43.03535780568441,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1762.5650593396563,
+            43.03535780568441,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1765.5650593396563,
+            43.03535780568441,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1768.5650593396563,
+            43.03535780568441,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1771.5650593396563,
+            43.03535780568441,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1774.5650593396563,
+            43.03535780568441,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1777.5650593396563,
+            43.03535780568441,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1780.5650593396563,
+            43.03535780568441,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1783.5650593396563,
+            43.03535780568441,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1786.5650593396563,
+            43.03535780568441,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1789.5650593396563,
+            43.03535780568441,
+            36.154775318277345
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1789.5650593396563,
+            43.03535780568441,
+            36.154775318277345
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1789.5650593396563,
+            43.03535780568441,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1791.0650593396563,
+            40.4372815943311,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1792.5650593396563,
+            37.83920538297778,
+            36.154775318277345
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1792.5650593396563,
+            37.83920538297778,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1795.1631355510096,
+            36.33920538297778,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1797.761211762363,
+            34.83920538297778,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1800.3592879737164,
+            33.33920538297778,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1802.9573641850698,
+            31.83920538297778,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1805.5554403964231,
+            30.33920538297778,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1808.1535166077765,
+            28.83920538297778,
+            36.154775318277345
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1828.0,
+            20.0,
+            28.504
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/high_short/2025-1-9_17-29-51_1780172261/pose.jsonl b/Image/env_airsim_18/astar_data/high_short/2025-1-9_17-29-51_1780172261/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..15b084e8ee6b9ffbdb58fecaa10be148d65dd174
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/high_short/2025-1-9_17-29-51_1780172261/pose.jsonl
@@ -0,0 +1,223 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1557.0438043824718,
+            787.4500628935057,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1558.5438043824718,
+            784.8519866821523,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1560.0438043824718,
+            782.2539104707989,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1561.5438043824718,
+            779.6558342594456,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1563.0438043824718,
+            777.0577580480922,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1564.5438043824718,
+            774.4596818367388,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1566.0438043824718,
+            771.8616056253854,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1567.5438043824718,
+            769.2635294140321,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1569.0438043824718,
+            766.6654532026787,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1570.5438043824718,
+            764.0673769913253,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1572.0438043824718,
+            761.469300779972,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1573.5438043824718,
+            758.8712245686186,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1575.0438043824718,
+            756.2731483572652,
+            36.154775318277345
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1575.0438043824718,
+            756.2731483572652,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1575.0438043824718,
+            753.2731483572652,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1575.0438043824718,
+            750.2731483572652,
+            36.154775318277345
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1600.0,
+            700.0,
+            215.094
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/high_short/2025-1-9_17-38-1_1281830857/pose.jsonl b/Image/env_airsim_18/astar_data/high_short/2025-1-9_17-38-1_1281830857/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6851061026ec1fd7dee6ea63a55f9894e7060d24
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/high_short/2025-1-9_17-38-1_1281830857/pose.jsonl
@@ -0,0 +1,275 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1931.2831206761987,
+            434.7954977484799,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1931.2831206761987,
+            431.7954977484799,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1931.2831206761987,
+            428.7954977484799,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1931.2831206761987,
+            425.7954977484799,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1931.2831206761987,
+            422.7954977484799,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1931.2831206761987,
+            419.7954977484799,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1931.2831206761987,
+            416.7954977484799,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1931.2831206761987,
+            413.7954977484799,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1931.2831206761987,
+            410.7954977484799,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1931.2831206761987,
+            407.7954977484799,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1931.2831206761987,
+            404.7954977484799,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1931.2831206761987,
+            401.7954977484799,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1931.2831206761987,
+            398.7954977484799,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1931.2831206761987,
+            395.7954977484799,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1931.2831206761987,
+            392.7954977484799,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1931.2831206761987,
+            389.7954977484799,
+            36.154775318277345
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1931.2831206761987,
+            389.7954977484799,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1929.7831206761987,
+            387.19742153712656,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1928.2831206761987,
+            384.59934532577324,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1926.7831206761987,
+            382.0012691144199,
+            36.154775318277345
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1924.0,
+            356.0,
+            28.504
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/high_short/2025-1-9_17-57-9_2073785404/pose.jsonl b/Image/env_airsim_18/astar_data/high_short/2025-1-9_17-57-9_2073785404/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c8d5c36fb680992903e4a44ced382f094c999583
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/high_short/2025-1-9_17-57-9_2073785404/pose.jsonl
@@ -0,0 +1,327 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1007.4167466795716,
+            739.0682218046902,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1010.4167466795716,
+            739.0682218046902,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1013.4167466795716,
+            739.0682218046902,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1016.4167466795716,
+            739.0682218046902,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1019.4167466795716,
+            739.0682218046902,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1022.4167466795716,
+            739.0682218046902,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1025.4167466795716,
+            739.0682218046902,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1028.4167466795716,
+            739.0682218046902,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1031.4167466795716,
+            739.0682218046902,
+            36.154775318277345
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1031.4167466795716,
+            739.0682218046902,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1034.014822890925,
+            737.5682218046902,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1036.6128991022783,
+            736.0682218046902,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1039.2109753136317,
+            734.5682218046902,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1041.809051524985,
+            733.0682218046902,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1044.4071277363385,
+            731.5682218046902,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1047.0052039476918,
+            730.0682218046902,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1049.6032801590452,
+            728.5682218046902,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1052.2013563703986,
+            727.0682218046902,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1054.799432581752,
+            725.5682218046902,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1057.3975087931053,
+            724.0682218046902,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1059.9955850044587,
+            722.5682218046902,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1062.593661215812,
+            721.0682218046902,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1065.1917374271654,
+            719.5682218046902,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1067.7898136385188,
+            718.0682218046902,
+            36.154775318277345
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1092.0,
+            708.0,
+            64.9253
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/high_short/2025-1-9_18-16-1_441767868/pose.jsonl b/Image/env_airsim_18/astar_data/high_short/2025-1-9_18-16-1_441767868/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1075370e098f697537d2e807c19b3fe7770156bd
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/high_short/2025-1-9_18-16-1_441767868/pose.jsonl
@@ -0,0 +1,145 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1902.2214425807351,
+            -110.59628462219126,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1903.7214425807351,
+            -107.99820841083795,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1905.2214425807351,
+            -105.40013219948463,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1906.7214425807351,
+            -102.80205598813131,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1908.2214425807351,
+            -100.203979776778,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1909.7214425807351,
+            -97.60590356542468,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1911.2214425807351,
+            -95.00782735407137,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1912.7214425807351,
+            -92.40975114271805,
+            36.154775318277345
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1912.7214425807351,
+            -92.40975114271805,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1912.7214425807351,
+            -89.40975114271805,
+            36.154775318277345
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1932.0,
+            -56.0,
+            64.6317
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/high_short/2025-1-9_18-22-57_51245830/pose.jsonl b/Image/env_airsim_18/astar_data/high_short/2025-1-9_18-22-57_51245830/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..03f722be88248fc56ba3579dad6d400ec2ad399d
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/high_short/2025-1-9_18-22-57_51245830/pose.jsonl
@@ -0,0 +1,197 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1981.0001619900454,
+            -126.42577772634306,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1981.0001619900454,
+            -123.42577772634306,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1981.0001619900454,
+            -120.42577772634306,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1981.0001619900454,
+            -117.42577772634306,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1981.0001619900454,
+            -114.42577772634306,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1981.0001619900454,
+            -111.42577772634306,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1981.0001619900454,
+            -108.42577772634306,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1981.0001619900454,
+            -105.42577772634306,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1981.0001619900454,
+            -102.42577772634306,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1981.0001619900454,
+            -99.42577772634306,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1981.0001619900454,
+            -96.42577772634306,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1981.0001619900454,
+            -93.42577772634306,
+            36.154775318277345
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1981.0001619900454,
+            -93.42577772634306,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1979.5001619900454,
+            -90.82770151498974,
+            36.154775318277345
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1976.0,
+            -64.0,
+            50.1663
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/high_short/2025-1-9_18-32-41_1404515797/pose.jsonl b/Image/env_airsim_18/astar_data/high_short/2025-1-9_18-32-41_1404515797/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1de75a40b272d5100289733d2ad5a7e7454016e0
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/high_short/2025-1-9_18-32-41_1404515797/pose.jsonl
@@ -0,0 +1,106 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1525.0497991008772,
+            680.6965268606181,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1528.0497991008772,
+            680.6965268606181,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1531.0497991008772,
+            680.6965268606181,
+            36.154775318277345
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1531.0497991008772,
+            680.6965268606181,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1533.6478753122306,
+            682.1965268606181,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1536.245951523584,
+            683.6965268606181,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1538.8440277349373,
+            685.1965268606181,
+            36.154775318277345
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1600.0,
+            700.0,
+            215.094
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/high_short/2025-1-9_18-42-15_1503967857/pose.jsonl b/Image/env_airsim_18/astar_data/high_short/2025-1-9_18-42-15_1503967857/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..284d3f74ace18f33522370cc1b5482c0b78a5ac4
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/high_short/2025-1-9_18-42-15_1503967857/pose.jsonl
@@ -0,0 +1,379 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1754.4168884405256,
+            80.09720024231504,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1757.014964651879,
+            78.59720024231504,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1759.6130408632323,
+            77.09720024231504,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1762.2111170745857,
+            75.59720024231504,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1764.809193285939,
+            74.09720024231504,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1767.4072694972924,
+            72.59720024231504,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1770.0053457086458,
+            71.09720024231504,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1772.6034219199992,
+            69.59720024231504,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1775.2014981313525,
+            68.09720024231504,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1777.799574342706,
+            66.59720024231504,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1780.3976505540593,
+            65.09720024231504,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1782.9957267654127,
+            63.59720024231504,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1785.593802976766,
+            62.09720024231504,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1788.1918791881194,
+            60.59720024231504,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1790.7899553994728,
+            59.09720024231504,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1793.3880316108261,
+            57.59720024231504,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1795.9861078221795,
+            56.09720024231504,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1798.584184033533,
+            54.59720024231504,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1801.1822602448863,
+            53.09720024231504,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1803.7803364562396,
+            51.59720024231504,
+            36.154775318277345
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1803.7803364562396,
+            51.59720024231504,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1805.2803364562396,
+            48.999124030961724,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1806.7803364562396,
+            46.40104781960841,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1808.2803364562396,
+            43.80297160825509,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1809.7803364562396,
+            41.204895396901776,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1811.2803364562396,
+            38.60681918554846,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1812.7803364562396,
+            36.008742974195144,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1814.2803364562396,
+            33.41066676284183,
+            36.154775318277345
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1828.0,
+            20.0,
+            28.504
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/high_short/2025-1-9_18-45-44_1534230297/pose.jsonl b/Image/env_airsim_18/astar_data/high_short/2025-1-9_18-45-44_1534230297/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0fd4bc0ccaf74218ab331a38c9d2db42257c36ac
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/high_short/2025-1-9_18-45-44_1534230297/pose.jsonl
@@ -0,0 +1,223 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1159.5962689722044,
+            856.0112661800243,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1156.998192760851,
+            857.5112661800243,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1154.4001165494976,
+            859.0112661800243,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1151.8020403381443,
+            860.5112661800243,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1149.2039641267909,
+            862.0112661800243,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1146.6058879154375,
+            863.5112661800243,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1144.0078117040841,
+            865.0112661800243,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1141.4097354927308,
+            866.5112661800243,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1138.8116592813774,
+            868.0112661800243,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1136.213583070024,
+            869.5112661800243,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1133.6155068586706,
+            871.0112661800243,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1131.0174306473173,
+            872.5112661800243,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1128.419354435964,
+            874.0112661800243,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1125.8212782246105,
+            875.5112661800243,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1123.2232020132572,
+            877.0112661800243,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1120.6251258019038,
+            878.5112661800243,
+            36.154775318277345
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1096.0,
+            896.0,
+            34.2564
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/high_short/2025-1-9_18-9-8_1941727088/pose.jsonl b/Image/env_airsim_18/astar_data/high_short/2025-1-9_18-9-8_1941727088/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4e407926425671248f617496f7e236b94ce57a35
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/high_short/2025-1-9_18-9-8_1941727088/pose.jsonl
@@ -0,0 +1,119 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1288.0475441760673,
+            515.9210246427016,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1286.5475441760673,
+            513.3229484313483,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1285.0475441760673,
+            510.724872219995,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1283.5475441760673,
+            508.1267960086417,
+            36.154775318277345
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1283.5475441760673,
+            508.1267960086417,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1280.949467964714,
+            506.6267960086417,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1278.3513917533605,
+            505.1267960086417,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1275.7533155420072,
+            503.6267960086417,
+            36.154775318277345
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1236.0,
+            456.0,
+            148.475
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/high_short/2025-1-9_19-1-32_270754552/pose.jsonl b/Image/env_airsim_18/astar_data/high_short/2025-1-9_19-1-32_270754552/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..dfbe37b766cd1bde478eb8b48396433b1abd174d
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/high_short/2025-1-9_19-1-32_270754552/pose.jsonl
@@ -0,0 +1,93 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1405.530478718377,
+            314.6934502147732,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1408.530478718377,
+            314.6934502147732,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1411.530478718377,
+            314.6934502147732,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1414.530478718377,
+            314.6934502147732,
+            36.154775318277345
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1414.530478718377,
+            314.6934502147732,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1417.1285549297304,
+            313.1934502147732,
+            36.154775318277345
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1472.0,
+            304.0,
+            103.299
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/high_short/2025-1-9_19-6-36_1000372555/pose.jsonl b/Image/env_airsim_18/astar_data/high_short/2025-1-9_19-6-36_1000372555/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4fa35f7e0121923d37f575a6d43bb0cdfdabe297
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/high_short/2025-1-9_19-6-36_1000372555/pose.jsonl
@@ -0,0 +1,145 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1943.9312014055631,
+            -115.56015858724027,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1943.9312014055631,
+            -112.56015858724027,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1943.9312014055631,
+            -109.56015858724027,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1943.9312014055631,
+            -106.56015858724027,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1943.9312014055631,
+            -103.56015858724027,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1943.9312014055631,
+            -100.56015858724027,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1943.9312014055631,
+            -97.56015858724027,
+            36.154775318277345
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1943.9312014055631,
+            -97.56015858724027,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1942.4312014055631,
+            -94.96208237588695,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1940.9312014055631,
+            -92.36400616453363,
+            36.154775318277345
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1932.0,
+            -56.0,
+            64.6317
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/high_short/2025-1-9_19-6-45_1779289672/pose.jsonl b/Image/env_airsim_18/astar_data/high_short/2025-1-9_19-6-45_1779289672/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bb73e748b42bc3ed260594eada7a2bd09d34a4e7
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/high_short/2025-1-9_19-6-45_1779289672/pose.jsonl
@@ -0,0 +1,184 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            512.5099951933202,
+            -138.94243300122994,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            511.00999519332015,
+            -136.34435678987663,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            509.50999519332015,
+            -133.7462805785233,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            508.00999519332015,
+            -131.14820436717,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            506.50999519332015,
+            -128.55012815581668,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            505.00999519332015,
+            -125.95205194446336,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            503.50999519332015,
+            -123.35397573311005,
+            36.154775318277345
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            503.50999519332015,
+            -123.35397573311005,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            500.91191898196683,
+            -121.85397573311005,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            498.3138427706135,
+            -120.35397573311005,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            495.7157665592602,
+            -118.85397573311005,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            493.1176903479069,
+            -117.35397573311005,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            490.51961413655357,
+            -115.85397573311005,
+            36.154775318277345
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            464.0,
+            -88.0,
+            31.8125
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/high_short/2025-1-9_20-36-40_1221389873/pose.jsonl b/Image/env_airsim_18/astar_data/high_short/2025-1-9_20-36-40_1221389873/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5e719ab8fddc2e51bb1c8621968bcb2e9909a62f
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/high_short/2025-1-9_20-36-40_1221389873/pose.jsonl
@@ -0,0 +1,236 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            567.3538855006366,
+            37.18625835855707,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            567.3538855006366,
+            40.18625835855707,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            567.3538855006366,
+            43.18625835855707,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            567.3538855006366,
+            46.18625835855707,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            567.3538855006366,
+            49.18625835855707,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            567.3538855006366,
+            52.18625835855707,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            567.3538855006366,
+            55.18625835855707,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            567.3538855006366,
+            58.18625835855707,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            567.3538855006366,
+            61.18625835855707,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            567.3538855006366,
+            64.18625835855707,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            567.3538855006366,
+            67.18625835855707,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            567.3538855006366,
+            70.18625835855707,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            567.3538855006366,
+            73.18625835855707,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            567.3538855006366,
+            76.18625835855707,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            567.3538855006366,
+            79.18625835855707,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            567.3538855006366,
+            82.18625835855707,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            567.3538855006366,
+            85.18625835855707,
+            36.154775318277345
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            568.0,
+            120.0,
+            30.9312
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/high_short/2025-1-9_20-37-46_928682751/pose.jsonl b/Image/env_airsim_18/astar_data/high_short/2025-1-9_20-37-46_928682751/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..068f10ff790c80d8a7fc251ff560341a4f61421e
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/high_short/2025-1-9_20-37-46_928682751/pose.jsonl
@@ -0,0 +1,67 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            107.69917193320607,
+            -23.51339962834619,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            104.69917193320607,
+            -23.51339962834619,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            101.69917193320607,
+            -23.51339962834619,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            98.69917193320607,
+            -23.51339962834619,
+            36.154775318277345
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            20.0,
+            -40.0,
+            31.11
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/high_short/2025-1-9_20-41-9_838139053/pose.jsonl b/Image/env_airsim_18/astar_data/high_short/2025-1-9_20-41-9_838139053/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ab4ea9b03a2e189e4587008ba9dbd0c509c33b15
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/high_short/2025-1-9_20-41-9_838139053/pose.jsonl
@@ -0,0 +1,288 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1924.6927243200405,
+            589.71444678824,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1926.1927243200405,
+            592.3125229995933,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1927.6927243200405,
+            594.9105992109467,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1929.1927243200405,
+            597.5086754223,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1930.6927243200405,
+            600.1067516336534,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1932.1927243200405,
+            602.7048278450068,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1933.6927243200405,
+            605.3029040563601,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1935.1927243200405,
+            607.9009802677135,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1936.6927243200405,
+            610.4990564790669,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1938.1927243200405,
+            613.0971326904203,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1939.6927243200405,
+            615.6952089017736,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1941.1927243200405,
+            618.293285113127,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1942.6927243200405,
+            620.8913613244804,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1944.1927243200405,
+            623.4894375358338,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1945.6927243200405,
+            626.0875137471871,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1947.1927243200405,
+            628.6855899585405,
+            36.154775318277345
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1947.1927243200405,
+            628.6855899585405,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1949.7908005313939,
+            630.1855899585405,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1952.3888767427472,
+            631.6855899585405,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1954.9869529541006,
+            633.1855899585405,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1957.585029165454,
+            634.6855899585405,
+            36.154775318277345
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1976.0,
+            660.0,
+            105.319
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/high_short/2025-1-9_20-49-13_1558581086/pose.jsonl b/Image/env_airsim_18/astar_data/high_short/2025-1-9_20-49-13_1558581086/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..278bdfa245d77e72ae480c7dddac094c7e17c4c1
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/high_short/2025-1-9_20-49-13_1558581086/pose.jsonl
@@ -0,0 +1,301 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1907.781600765241,
+            50.3836027110375,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1905.1835245538875,
+            48.8836027110375,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1902.5854483425342,
+            47.3836027110375,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1899.9873721311808,
+            45.8836027110375,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1897.3892959198274,
+            44.3836027110375,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1894.791219708474,
+            42.8836027110375,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1892.1931434971207,
+            41.3836027110375,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1889.5950672857673,
+            39.8836027110375,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1886.996991074414,
+            38.3836027110375,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1884.3989148630606,
+            36.8836027110375,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1881.8008386517072,
+            35.3836027110375,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1879.2027624403538,
+            33.8836027110375,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1876.6046862290004,
+            32.3836027110375,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1874.006610017647,
+            30.883602711037497,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1871.4085338062937,
+            29.383602711037497,
+            36.154775318277345
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1871.4085338062937,
+            29.383602711037497,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1868.4085338062937,
+            29.383602711037497,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1865.4085338062937,
+            29.383602711037497,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1862.4085338062937,
+            29.383602711037497,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1859.4085338062937,
+            29.383602711037497,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1856.4085338062937,
+            29.383602711037497,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1853.4085338062937,
+            29.383602711037497,
+            36.154775318277345
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1828.0,
+            20.0,
+            28.504
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/high_short/2025-1-9_20-57-1_1343457914/pose.jsonl b/Image/env_airsim_18/astar_data/high_short/2025-1-9_20-57-1_1343457914/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f0da504b21a741d21112c95b22f2b48a40849582
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/high_short/2025-1-9_20-57-1_1343457914/pose.jsonl
@@ -0,0 +1,197 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            484.2144775967444,
+            -28.9911364259328,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            482.7144775967444,
+            -31.589212637286117,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            481.2144775967444,
+            -34.18728884863943,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            479.7144775967444,
+            -36.78536505999275,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            478.2144775967444,
+            -39.383441271346065,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            476.7144775967444,
+            -41.98151748269938,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            475.2144775967444,
+            -44.5795936940527,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            473.7144775967444,
+            -47.17766990540601,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            472.2144775967444,
+            -49.77574611675933,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            470.7144775967444,
+            -52.373822328112645,
+            36.154775318277345
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            470.7144775967444,
+            -52.373822328112645,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            470.7144775967444,
+            -55.373822328112645,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            470.7144775967444,
+            -58.373822328112645,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            470.7144775967444,
+            -61.373822328112645,
+            36.154775318277345
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            464.0,
+            -88.0,
+            31.8125
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/high_short/2025-1-9_20-58-8_682736626/pose.jsonl b/Image/env_airsim_18/astar_data/high_short/2025-1-9_20-58-8_682736626/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b3951c9bb7030009f29a6308db71dba2816b7327
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/high_short/2025-1-9_20-58-8_682736626/pose.jsonl
@@ -0,0 +1,210 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1896.704359613839,
+            297.55141545199103,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1898.204359613839,
+            300.14949166334435,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1899.704359613839,
+            302.74756787469767,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1901.204359613839,
+            305.345644086051,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1902.704359613839,
+            307.9437202974043,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1904.204359613839,
+            310.5417965087576,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1905.704359613839,
+            313.13987272011093,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1907.204359613839,
+            315.73794893146425,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1908.704359613839,
+            318.33602514281756,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1910.204359613839,
+            320.9341013541709,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1911.704359613839,
+            323.5321775655242,
+            36.154775318277345
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1911.704359613839,
+            323.5321775655242,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1911.704359613839,
+            326.5321775655242,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1911.704359613839,
+            329.5321775655242,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1911.704359613839,
+            332.5321775655242,
+            36.154775318277345
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1924.0,
+            356.0,
+            28.504
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/high_short/2025-1-9_21-18-14_1974571475/pose.jsonl b/Image/env_airsim_18/astar_data/high_short/2025-1-9_21-18-14_1974571475/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..99cef52d9b4918060195f8fcd28386b5df9fc150
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/high_short/2025-1-9_21-18-14_1974571475/pose.jsonl
@@ -0,0 +1,262 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1948.1337331598975,
+            -119.25298192979767,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1945.535656948544,
+            -117.75298192979767,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1942.9375807371907,
+            -116.25298192979767,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1940.3395045258374,
+            -114.75298192979767,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1937.741428314484,
+            -113.25298192979767,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1935.1433521031306,
+            -111.75298192979767,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1932.5452758917772,
+            -110.25298192979767,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1929.9471996804239,
+            -108.75298192979767,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1927.3491234690705,
+            -107.25298192979767,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1924.7510472577171,
+            -105.75298192979767,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1922.1529710463637,
+            -104.25298192979767,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1919.5548948350104,
+            -102.75298192979767,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1916.956818623657,
+            -101.25298192979767,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1914.3587424123036,
+            -99.75298192979767,
+            36.154775318277345
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1914.3587424123036,
+            -99.75298192979767,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1912.8587424123036,
+            -97.15490571844435,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1911.3587424123036,
+            -94.55682950709104,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1909.8587424123036,
+            -91.95875329573772,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1908.3587424123036,
+            -89.3606770843844,
+            36.154775318277345
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1876.0,
+            -64.0,
+            31.2239
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/high_short/2025-1-9_21-21-27_2115115464/pose.jsonl b/Image/env_airsim_18/astar_data/high_short/2025-1-9_21-21-27_2115115464/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..209ab7345ea2620865c2cfc00ab2e6f46c0072d5
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/high_short/2025-1-9_21-21-27_2115115464/pose.jsonl
@@ -0,0 +1,301 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1904.0181506719698,
+            474.06830611775763,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1907.0181506719698,
+            474.06830611775763,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1910.0181506719698,
+            474.06830611775763,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1913.0181506719698,
+            474.06830611775763,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1916.0181506719698,
+            474.06830611775763,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1919.0181506719698,
+            474.06830611775763,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1922.0181506719698,
+            474.06830611775763,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1925.0181506719698,
+            474.06830611775763,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1928.0181506719698,
+            474.06830611775763,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1931.0181506719698,
+            474.06830611775763,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1934.0181506719698,
+            474.06830611775763,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1937.0181506719698,
+            474.06830611775763,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1940.0181506719698,
+            474.06830611775763,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1943.0181506719698,
+            474.06830611775763,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1946.0181506719698,
+            474.06830611775763,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1949.0181506719698,
+            474.06830611775763,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1952.0181506719698,
+            474.06830611775763,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1955.0181506719698,
+            474.06830611775763,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1958.0181506719698,
+            474.06830611775763,
+            36.154775318277345
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1958.0181506719698,
+            474.06830611775763,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1960.6162268833232,
+            472.56830611775763,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1963.2143030946766,
+            471.06830611775763,
+            36.154775318277345
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1996.0,
+            468.0,
+            64.6317
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/high_short/2025-1-9_21-28-22_437180529/pose.jsonl b/Image/env_airsim_18/astar_data/high_short/2025-1-9_21-28-22_437180529/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e25f031de6f9c500eb66f1cd2dc4e1b0f78d81bf
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/high_short/2025-1-9_21-28-22_437180529/pose.jsonl
@@ -0,0 +1,236 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            305.2065849643311,
+            164.04307407411983,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            302.2065849643311,
+            164.04307407411983,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            299.2065849643311,
+            164.04307407411983,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            296.2065849643311,
+            164.04307407411983,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            293.2065849643311,
+            164.04307407411983,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            290.2065849643311,
+            164.04307407411983,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            287.2065849643311,
+            164.04307407411983,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            284.2065849643311,
+            164.04307407411983,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            281.2065849643311,
+            164.04307407411983,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            278.2065849643311,
+            164.04307407411983,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            275.2065849643311,
+            164.04307407411983,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            272.2065849643311,
+            164.04307407411983,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            269.2065849643311,
+            164.04307407411983,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            266.2065849643311,
+            164.04307407411983,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            263.2065849643311,
+            164.04307407411983,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            260.2065849643311,
+            164.04307407411983,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            257.2065849643311,
+            164.04307407411983,
+            36.154775318277345
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            228.0,
+            164.0,
+            51.3126
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/high_short/2025-1-9_21-45-30_366831742/pose.jsonl b/Image/env_airsim_18/astar_data/high_short/2025-1-9_21-45-30_366831742/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3e8c76b9aee85b7721e39ce6d9fed035386b45c7
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/high_short/2025-1-9_21-45-30_366831742/pose.jsonl
@@ -0,0 +1,171 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1135.8243740525477,
+            762.1257681280491,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1134.3243740525477,
+            759.5276919166959,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1132.8243740525477,
+            756.9296157053425,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1131.3243740525477,
+            754.3315394939891,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1129.8243740525477,
+            751.7334632826357,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1128.3243740525477,
+            749.1353870712824,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1126.8243740525477,
+            746.537310859929,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1125.3243740525477,
+            743.9392346485756,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1123.8243740525477,
+            741.3411584372222,
+            36.154775318277345
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1123.8243740525477,
+            741.3411584372222,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1121.2262978411943,
+            739.8411584372222,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1118.628221629841,
+            738.3411584372222,
+            36.154775318277345
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1092.0,
+            708.0,
+            64.9253
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/high_short/2025-1-9_22-11-8_374138644/pose.jsonl b/Image/env_airsim_18/astar_data/high_short/2025-1-9_22-11-8_374138644/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e905f6967d1a99d83096dc8f277d5c25244ff82f
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/high_short/2025-1-9_22-11-8_374138644/pose.jsonl
@@ -0,0 +1,249 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1710.0383982984363,
+            318.34883033135986,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1711.5383982984363,
+            320.9469065427132,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1713.0383982984363,
+            323.5449827540665,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1714.5383982984363,
+            326.1430589654198,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1716.0383982984363,
+            328.7411351767731,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1717.5383982984363,
+            331.33921138812644,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1719.0383982984363,
+            333.93728759947976,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1720.5383982984363,
+            336.5353638108331,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1722.0383982984363,
+            339.1334400221864,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1723.5383982984363,
+            341.7315162335397,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1725.0383982984363,
+            344.329592444893,
+            36.154775318277345
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1725.0383982984363,
+            344.329592444893,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1727.6364745097897,
+            345.829592444893,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1730.234550721143,
+            347.329592444893,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1732.8326269324964,
+            348.829592444893,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1735.4307031438498,
+            350.329592444893,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1738.0287793552031,
+            351.829592444893,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1740.6268555665565,
+            353.329592444893,
+            36.154775318277345
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1772.0,
+            392.0,
+            34.6515
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/high_short/2025-1-9_22-8-2_699045063/pose.jsonl b/Image/env_airsim_18/astar_data/high_short/2025-1-9_22-8-2_699045063/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..653893d65a6f6ca3c910245e0446924d2161e3b2
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/high_short/2025-1-9_22-8-2_699045063/pose.jsonl
@@ -0,0 +1,249 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1872.132952690029,
+            72.29174578695314,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1872.132952690029,
+            75.29174578695314,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1872.132952690029,
+            78.29174578695314,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1872.132952690029,
+            81.29174578695314,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1872.132952690029,
+            84.29174578695314,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1872.132952690029,
+            87.29174578695314,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1872.132952690029,
+            90.29174578695314,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1872.132952690029,
+            93.29174578695314,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1872.132952690029,
+            96.29174578695314,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1872.132952690029,
+            99.29174578695314,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1872.132952690029,
+            102.29174578695314,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1872.132952690029,
+            105.29174578695314,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1872.132952690029,
+            108.29174578695314,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1872.132952690029,
+            111.29174578695314,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1872.132952690029,
+            114.29174578695314,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1872.132952690029,
+            117.29174578695314,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1872.132952690029,
+            120.29174578695314,
+            36.154775318277345
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1872.132952690029,
+            123.29174578695314,
+            36.154775318277345
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1868.0,
+            168.0,
+            104.903
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194432.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194432.png
new file mode 100644
index 0000000000000000000000000000000000000000..2521714a972340b7d1ea12f9c75efbe6f6333f20
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194432.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5482b5aadaece0753c84820f93ab88c6363214d2bc1be5ac82dc422b360c7ec
+size 617428
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194434.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194434.png
new file mode 100644
index 0000000000000000000000000000000000000000..392a9291161fe4d3aa74f7c98c27d72363382917
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194434.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9aebb512fde8a98fe46483ce3bf27649edc7773d7799bb9c137bd010b001315a
+size 625009
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194436.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194436.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd351c455c2738fad52e8ba9b5b3fdfd2d2112b4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194436.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc9f62f3e55e04fa81f8c76e45639aad4e6a99664f3e867a8863adaf1c3a2fc5
+size 660988
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194438.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194438.png
new file mode 100644
index 0000000000000000000000000000000000000000..ae182bae13520d9663b299e1f77ad7fb249abeaa
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194438.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:533b0c67d71f444400b369c406cf2da4a68930df141313e02ea957f632752c43
+size 665851
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194440.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194440.png
new file mode 100644
index 0000000000000000000000000000000000000000..c43af3412e53e8e8ca37a4dd85200a3ee7e43b00
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194440.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7965b600195b2a3dd7498677e40d9ad9471ac144080636f01212d98f13485b2c
+size 673295
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194442.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194442.png
new file mode 100644
index 0000000000000000000000000000000000000000..1a3b1fbcc83ff2d6e89258234055afb794c3914e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194442.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb16a18c1e380a9be3d419faba1ddc2b90e1a31a45c6902d2f21a4712850e24c
+size 681065
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194444.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194444.png
new file mode 100644
index 0000000000000000000000000000000000000000..46a77b7a2c1d0f080810e0c7c66c1ee301a11845
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194444.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2743a124408a58970c2544dfa25bdbab1f3440798e19afe69f2ac1872a071a04
+size 688508
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194446.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194446.png
new file mode 100644
index 0000000000000000000000000000000000000000..1622cd13a1217824af851193b72d001123157e42
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194446.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58e00d57343d071ef47fef1013d9ccd8b60e071c599f0fe201206ea452ca9c28
+size 698182
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194448.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194448.png
new file mode 100644
index 0000000000000000000000000000000000000000..343f5b554d1df486288c0795c8cf2ec46069eb83
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194448.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a06741940908f1294bd02084cca892831a5e70cac87ceada46bb58ee55e16c5
+size 710612
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194450.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194450.png
new file mode 100644
index 0000000000000000000000000000000000000000..889949faa0bfb725f77eb13d7b890ebb16168786
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194450.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2afbd19d915a94ddc81fa297e5449d0410c6d3474c9c2859918dccdc12201bb6
+size 721461
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194452.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194452.png
new file mode 100644
index 0000000000000000000000000000000000000000..ee15d2edf7741c272851ea044281b4fa057e597f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194452.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df5d5635099a86ddd690306dc91b7c6fe3d55851248b7b440e4339d45850c3e3
+size 729174
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194455.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194455.png
new file mode 100644
index 0000000000000000000000000000000000000000..b5e770165383370f391bf10fca4dbbf47d514f4f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194455.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2006eb8fbf0aeafbf039d87b3bc7820a7f7bf077fabc23533ac54216ee305d3
+size 735527
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194457.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194457.png
new file mode 100644
index 0000000000000000000000000000000000000000..94a0a227bc1a9475d4fdfc587f91e268e11c23ba
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194457.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13305c9f6f293fbd04d5c1b89147aaa95daf4a2bff589fdd803923d3aa5f1852
+size 741609
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194459.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194459.png
new file mode 100644
index 0000000000000000000000000000000000000000..ab113b5e570644991e66e8878dfe493b3abb63e2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194459.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:268033667a995bf06e89996ca88052124a57d9fe301da18de2e5bf52b72e9b62
+size 745307
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194501.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194501.png
new file mode 100644
index 0000000000000000000000000000000000000000..c32fd5604dfeabe2b0ae6a1bba8ff5edf71d80e4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194501.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2e0e618b6cd5d02152e55b3e408ab37bbeff449a986b85ab4928193fc55d0a8
+size 748793
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194503.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194503.png
new file mode 100644
index 0000000000000000000000000000000000000000..299d1e1f86989e4c270e6be4636d17b1afd16703
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194503.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cde08c4d993355febfef0b77acf390a7e6881a5d00c06f69e0ea659894d2a64f
+size 751558
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194506.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194506.png
new file mode 100644
index 0000000000000000000000000000000000000000..a360073af0e5e58961a48af7bf9ef78b118828dd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194506.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16ec00bdc61524f9cea8f9ede9b06f22a49ee5e3b6608dac03a4fdd9fb246fb0
+size 752782
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194508.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194508.png
new file mode 100644
index 0000000000000000000000000000000000000000..096ae4879294817bd2ad6fddbea509b3d6a13978
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194508.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:811891aa09c4ec7f600b3c871f44cb7d3d32aa0ec05afc012eeba6a89fc95aef
+size 754831
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194510.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194510.png
new file mode 100644
index 0000000000000000000000000000000000000000..8d0096bfb0b71bf34201d92987e05633794db091
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194510.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9125845696f2d17cd38242d8d28be18f6d4118fa5fd35dda0166156d5281b368
+size 755164
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194512.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194512.png
new file mode 100644
index 0000000000000000000000000000000000000000..b907bfa3be3a34d543a064a9cd355713f77b9068
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194512.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf85997a759d715446f3de951098133fb48c283a3850bbe3b6f9f4fa5ef29d03
+size 756779
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194514.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194514.png
new file mode 100644
index 0000000000000000000000000000000000000000..9939e9f04575fe9c7a41be2bfcd3e549bae81a23
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194514.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3f8667751c8f69be914a9b315ae0df702533c981220f4485a823b9fa433e977
+size 755668
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194516.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194516.png
new file mode 100644
index 0000000000000000000000000000000000000000..b0ccdbd92c11e88eace0af1d58d49bcb4e32f66b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194516.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6dde1dce86e3e636d97721f2b201daa1e39ad04b0f44cfea83b16b227002920d
+size 754419
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194519.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194519.png
new file mode 100644
index 0000000000000000000000000000000000000000..1d63d6ec91c698c8b1334a489da67e14bbd5145b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194519.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f08f081c91800f3f85c06bfc8003165fc5b5637c087ac2e7cf2e6f0531e19f9
+size 754615
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194521.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194521.png
new file mode 100644
index 0000000000000000000000000000000000000000..294a5910249d44f38001d1e37fb489c1c5fa8070
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194521.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b245d570b86cabe4fc9c05ad9d79dec11c666de389915f6576c298de74d53207
+size 754049
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194523.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194523.png
new file mode 100644
index 0000000000000000000000000000000000000000..8ce4380d07dbd4720f92cbc13b92b740a0e42e94
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194523.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a946c633df3174c5e25b0d57efec318f8218c1dc281c1236497c4889f40312f5
+size 756027
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194525.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194525.png
new file mode 100644
index 0000000000000000000000000000000000000000..586269495cdbb625a32d113a7595a930bb220ad1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194525.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5533987d96a0fde1fd6b21652557dff5fe2e858ab350a27f986d9b58f80aaed7
+size 758503
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194528.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194528.png
new file mode 100644
index 0000000000000000000000000000000000000000..050176dfdfe4392ff43f1514244543a1d6decad7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194528.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c485e7926b9a3d22161452d914652895cdfd49cc6cb2f1bd0033d4fc2b3ec5d6
+size 756696
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194530.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194530.png
new file mode 100644
index 0000000000000000000000000000000000000000..0930ee0d079f52f0234691cce61abc1dee0119b7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194530.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0ab3b6fd566ced1080826f64b174e344462377dd9ba336cd8cbecf0afa769c7
+size 757404
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194532.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194532.png
new file mode 100644
index 0000000000000000000000000000000000000000..c65ee8459af039ff15618025cc82779dc9b2742b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194532.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9dd01c592c1a9f491bc05d09475419988ec9999d0af7b9882834551d46f8d4ef
+size 755392
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194534.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194534.png
new file mode 100644
index 0000000000000000000000000000000000000000..fd4b0d59405e6856c7ef80df2c76366de3bb6c97
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194534.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfa60c0ef892801e7bf8a1ed325510ac90485a43cc54a44bf1c37e15dcd8ef9f
+size 756709
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194537.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194537.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c660b3e0b6fbfe33b035b5b08e6e9840a1163ac
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194537.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:992d70812918d8578f5d49a00a0d5294aaed61f2bdf96c9fad6269faad61aa94
+size 756340
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194539.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194539.png
new file mode 100644
index 0000000000000000000000000000000000000000..c37da804ca82eca8b419c2ee1aa37f38b117b973
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194539.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5052d9b89486b0b3c1d2adaf6631761aa348e340dc3018ee8877910e97499543
+size 756598
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194541.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194541.png
new file mode 100644
index 0000000000000000000000000000000000000000..a859065bd852c1a9ca519b0cd8931954ee153daf
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194541.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e19c976229ed00e43401a04017261bb0237311dd8dde37e005b4c61d713ffba
+size 756021
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194543.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194543.png
new file mode 100644
index 0000000000000000000000000000000000000000..6a2809c1330526ed1d9112cb36b43986bc77b1b7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194543.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6efc7b04197a0c76e5c542a6ef953bb0f1109f6e2144204403b293d5589f203e
+size 754478
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194546.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194546.png
new file mode 100644
index 0000000000000000000000000000000000000000..8a1b3ca50384c757351989703f6490d51af33ca1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194546.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12e8f70847d336ae5897b71264844dfab382d826acf967891778f8358baa1280
+size 755175
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194548.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194548.png
new file mode 100644
index 0000000000000000000000000000000000000000..342754700ac01c46f1c447f0574c3d6b6029dfba
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194548.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3177e8b6584709191eeb298862b70369d8f9790b699b0ecf11b40bb347fc3c6d
+size 754308
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194550.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194550.png
new file mode 100644
index 0000000000000000000000000000000000000000..19ee82694c45fb410e270f81cbd12a3def6e637a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194550.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c95f7f545281e76f1607edd90e122675b97c0bd60a739cc966b86f8667bd796
+size 752393
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194553.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194553.png
new file mode 100644
index 0000000000000000000000000000000000000000..5b2a66c966e60cd4b977f33da16132e33a97fc17
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194553.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8016e88363f1e85cd278b5b53900bbfb2cf00cb77e380af4d602a3fa8fdb2f82
+size 753468
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194555.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194555.png
new file mode 100644
index 0000000000000000000000000000000000000000..2d2bd99a4b6e9b0a0fd00f91e496d51f444b15c3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194555.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:200b3fb9053df856daf1d946d0df4fbd7040250b9b589162277a766bd5aaf214
+size 752654
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194557.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194557.png
new file mode 100644
index 0000000000000000000000000000000000000000..db959282af98152c2c82cf90f1885b4645a7e077
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194557.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f969705a2819c21076dd4ecb77ec08faf7877ed950841870e45e6dd843c9d644
+size 753000
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194559.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194559.png
new file mode 100644
index 0000000000000000000000000000000000000000..b65cad9c77f767b09b9f70384d0bd272929b7410
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194559.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c156ac8fc02b7ff84063fdf05d07718e8cfff5525ad2181284bf293ac5a072e9
+size 751274
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194602.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194602.png
new file mode 100644
index 0000000000000000000000000000000000000000..8a69fece48cb7adc6666d7e09517ad47e3b4862a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194602.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:919b4c686a32a1c16a411636529335063bdad2410c23a25af15f35fe3df20ac6
+size 750962
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194604.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194604.png
new file mode 100644
index 0000000000000000000000000000000000000000..31e47db894da23f1088cad46e1d6a39422dfd346
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194604.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a76d26177ef72c650d979cd1afe50dc1d8f5b39bf3a8ebc4fbf07e8742d74383
+size 750499
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194606.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194606.png
new file mode 100644
index 0000000000000000000000000000000000000000..2a7b43016408cdc1c1cfbcdb3016ea137d6bcaff
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194606.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f12f0b57fa5d29e76fbe58eb21d3b21b43da0b5be31502ec6b0ccebfa9b7a0f5
+size 750499
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194608.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194608.png
new file mode 100644
index 0000000000000000000000000000000000000000..d67675f2532867dc3bd80e43aafe6195a9e239e6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194608.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bf2a484773a21f94d28bff87ebb7edd7042cb98fd5703d1dbe77ea3be7034f0
+size 749243
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194611.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194611.png
new file mode 100644
index 0000000000000000000000000000000000000000..de041408779558b2969606fd86f0f9b3b329c278
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194611.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc209478b2cb57f2a9a7de83f284b1b447e5da4404be70dc1511083afa5661f2
+size 748564
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194613.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194613.png
new file mode 100644
index 0000000000000000000000000000000000000000..9bf73bc97ece37f0b06160c008ae61474a0a744d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194613.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e362554f0596b971050e1bfbc0d9fe32f489fd0e34fc3a7df73712def23040cd
+size 748713
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194615.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194615.png
new file mode 100644
index 0000000000000000000000000000000000000000..d8b796061030bdc75f3ff90378a7156555a601fc
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194615.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8a28efa5009f70b9899ffd9cd1420c0df0a5b6c808489b58933409f714be34c
+size 747198
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194617.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194617.png
new file mode 100644
index 0000000000000000000000000000000000000000..8cc1050821f64ca9266c9c3b65ea226d02ff1026
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194617.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7fce22d1ea80182c370966daf04e03dd59815a686e19fc7ff9554899c266b87
+size 740501
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194619.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194619.png
new file mode 100644
index 0000000000000000000000000000000000000000..68c18d07299ac3f1f0e8e12df0cf57c21c64781a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194619.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be6b497350d740ddfd3fc32dee615963e3b3a5e18f5347cb9d766a231bf91c71
+size 741839
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194622.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194622.png
new file mode 100644
index 0000000000000000000000000000000000000000..8c58b4b8883f977b3afdab796214746cbb57ae06
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194622.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94f8ed13547869801da078154b781144cb618e84e772fc957e434c974c5a396e
+size 741370
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194624.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194624.png
new file mode 100644
index 0000000000000000000000000000000000000000..10ea47ce919e7930105b8ed5df8a0bc1f80f107c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194624.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54028f6dbcb13c8100d22922a5536b188046d7f847f48326f68a9a1af9388860
+size 741240
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194626.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194626.png
new file mode 100644
index 0000000000000000000000000000000000000000..029919942148701105b2e33ddf545add148e2399
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194626.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e29be8043d7b497192d64694a0dc1734f947b6d86c669ddb9089c3b0a23a3e3f
+size 743040
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194629.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194629.png
new file mode 100644
index 0000000000000000000000000000000000000000..b38d3a6b72dce914c79387339594cb3fa7a6a591
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194629.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99e46b0a546668dac038315db019277f5465b176f7e96764e38d2f41ea19b5eb
+size 742658
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194631.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194631.png
new file mode 100644
index 0000000000000000000000000000000000000000..36b28e61cfc78e2e8c4b044007f5667873a221c6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194631.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd726eb9aa0965ff8878e7b9a64b2a5b85cf27b22e12af1447e6468aacbd4c43
+size 747326
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194633.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194633.png
new file mode 100644
index 0000000000000000000000000000000000000000..ab7c6c3393cc1a0463e0e0c4c1ffb4630d861411
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194633.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0954a5bdebfe81fad80c1175f700eb039f6cd504ee78a5d3a0156ed09ab8c7b
+size 751959
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194635.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194635.png
new file mode 100644
index 0000000000000000000000000000000000000000..51c35c7005e93c278042a1be6f878d7f0176488e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194635.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70081f32e12698e46146ce807a57d5e4fe3eac12dd2bf59990f4a894584e5993
+size 752741
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194638.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194638.png
new file mode 100644
index 0000000000000000000000000000000000000000..857bf3620b81fd1019470d2e60300e9c7050d04a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194638.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04ee8a6394a6a99d95481b5466953828adc2126f58b4ca28948e6e6c6366f9bf
+size 752002
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194640.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194640.png
new file mode 100644
index 0000000000000000000000000000000000000000..e40ea024ee50d8c273505343ae499f5379bbb1c2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194640.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d3d9cd8eb15bf9a4c64cc2c22f1f3fed0a1b5b624aa673719417b7af7261ffd
+size 751129
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194642.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194642.png
new file mode 100644
index 0000000000000000000000000000000000000000..c5d10e50bacff09f9442a7f966484c0417d61b00
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194642.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5b202b89e2ff116b3c81a80413147ab5222138a356b92bee4f22ed0c14d326c
+size 751143
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194644.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194644.png
new file mode 100644
index 0000000000000000000000000000000000000000..505e8c6b24d54cd740dc424c58c93b407e62ec2e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194644.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e192d90bf7c94101875e2e97a73a46b305608d66b54edeb85cf7e506cf48481a
+size 742681
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194646.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194646.png
new file mode 100644
index 0000000000000000000000000000000000000000..bbd9591820089a7c0d3b2a3def5e00dc06a210d8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194646.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f41c70fcfa6c64715782232ed89775be067269c00d8bbc1f1dabffb0c3a84a6e
+size 723520
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194649.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194649.png
new file mode 100644
index 0000000000000000000000000000000000000000..5901497a2c9eea4a70e11fd552694bab54c8cb5b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194649.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96f14e05809e4e2c4b82a09ef6c4ef2febe8ce487e0d5bf307556de1612c5992
+size 703080
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194651.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194651.png
new file mode 100644
index 0000000000000000000000000000000000000000..f73a9555e7d5266450acc4203f372910e5e519d4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194651.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06f1daa6656657a8be65ebb7ea65377825c00ca978b4d7b882d5639f9bd6b7ae
+size 675503
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194653.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194653.png
new file mode 100644
index 0000000000000000000000000000000000000000..cdb072e019403dd0a81449a271441846b2d3af2a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194653.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7eb394a6f15902a127b8acb4f384823ef27c1083e39d2245dc2ad007136a2818
+size 644364
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194655.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194655.png
new file mode 100644
index 0000000000000000000000000000000000000000..a683e012b113fc47ae68e8a2ca2fc358e813354a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194655.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ac91e76e2247c59b21c1b635ca7265548c2498eb43d981808105e704e874176
+size 643010
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194657.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194657.png
new file mode 100644
index 0000000000000000000000000000000000000000..9a02181195ce0bbe044445db849b055f59f984a9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194657.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad831b438ad32e6d463916a71f616605e3aac9c03939ee3730979703a95c8995
+size 656163
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194700.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194700.png
new file mode 100644
index 0000000000000000000000000000000000000000..cb754488288828a5ed234c2226efbebf370e6b56
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194700.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b85d41fd31b9a506634033e8fbea821c1db51fa421ee9e72741d23fb38c76dde
+size 681972
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194702.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194702.png
new file mode 100644
index 0000000000000000000000000000000000000000..3ca363a0425a93f73df5398cc77862260412ac06
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194702.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d923272965567c31828b7fa90396e5d61d8bbba6832be4f1e008049f6d2a69af
+size 679144
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194704.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194704.png
new file mode 100644
index 0000000000000000000000000000000000000000..55c8f803d80321bf221bd799c9c93efe36723fc2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194704.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:931b45a4c1f3b38e61921f354d659bab6c2c3d9f1a95617b3f3698c7736541db
+size 684936
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194706.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194706.png
new file mode 100644
index 0000000000000000000000000000000000000000..d1f7836bc378047b1b5ee0fdc3f68f0eef198be5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194706.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0bb7b1e29b495f07a5df0804967bb3cbc106b125c3b22032c898a9aa284c12a
+size 695160
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194708.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194708.png
new file mode 100644
index 0000000000000000000000000000000000000000..acd7da5bc574c0993ed60bba2fa85dc81b8e3f20
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194708.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6411676b4499eaa5e412c414f3efc5e6e0ddfbbb91b5d39de0e9b2e5ed1bf9a
+size 716008
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194711.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194711.png
new file mode 100644
index 0000000000000000000000000000000000000000..296ed0c4a7643d39c45c52a4c6f546cbce056f0f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194711.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d5d806df70cb563c998355bf85d2705873acb1188edff4aadc8713998173769
+size 732565
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194713.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194713.png
new file mode 100644
index 0000000000000000000000000000000000000000..52e566e606d1eaf199578d28e96b353bc1b315c0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194713.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c725d7296d6b6f9622b0e0b922661c1b99cff505347798ff266c9e77ad20492a
+size 747548
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194715.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194715.png
new file mode 100644
index 0000000000000000000000000000000000000000..97467efd051620caeec24f5d63ec53a474c02327
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_19-44-28_1681692777/20250114_194715.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1a44ba09cf451bded07999f70f49d4deb0e062018f1ede80d20db93e4861eae
+size 757403
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154417.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154417.png
new file mode 100644
index 0000000000000000000000000000000000000000..3263611055ee7dd310e73157e34d2b4f27f570e0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154417.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb04006eecec1b88d842e47dc7a09144b799885d18d126d281d3a8ff46e89ee1
+size 839556
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154419.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154419.png
new file mode 100644
index 0000000000000000000000000000000000000000..f6841c64b9a9ae311af61d4fdfa237d4cc117ff5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154419.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80992e3cde625447b1aad8d287dbc6226c7e4619eac773e7b044252fbc79a2f9
+size 807407
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154421.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154421.png
new file mode 100644
index 0000000000000000000000000000000000000000..ca433765f194ddc906fc41a57dcc1c344a786605
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154421.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:624d72c0b6f1d33170430acc8b56a1cc195d9710bf234bb77ebf61182e4e089a
+size 797978
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154424.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154424.png
new file mode 100644
index 0000000000000000000000000000000000000000..d5e528ca8c7b8e58961db1677affb89c164e6fcd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154424.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4e68b631d96921ee8d14bdab4defecd9cc108a435b325ec427e7586154cea63
+size 797412
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154426.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154426.png
new file mode 100644
index 0000000000000000000000000000000000000000..02b1d3b5d40b3081fea1b794c8d060668b2504b9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154426.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79244016ddc1d2fb550eb725a1d37f360695ad51196289cf14615abb84acc083
+size 798872
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154428.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154428.png
new file mode 100644
index 0000000000000000000000000000000000000000..29666c2675c891eaff30e312afc51214bf331b1b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154428.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:383636e528f3ed75509f7d5f31c8a9e11c6da2b083260df59e1e596a09694a8c
+size 799974
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154430.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154430.png
new file mode 100644
index 0000000000000000000000000000000000000000..2c7ff1e5a022d51e36963bcd6917d4672d5ac2ff
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154430.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d261c2a076e057d793e82f5f2d84df09525f7e2f25752f2ee81c4ebf8abecfe7
+size 799347
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154432.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154432.png
new file mode 100644
index 0000000000000000000000000000000000000000..83f7cf446e7f0db0fd7f4e1f8ab47082cf4f8a05
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154432.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec338b99a739ba9e2076efb2f099e9a87f9a373a602f7992588137f70a90c6f2
+size 802691
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154435.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154435.png
new file mode 100644
index 0000000000000000000000000000000000000000..e7af2bd40641e3cee938afa031be967ba234f7f8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154435.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c1560edf55cb78b8cb7031d309e7fa62081bfb9673f423fd9e7d907daa0414b
+size 808516
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154437.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154437.png
new file mode 100644
index 0000000000000000000000000000000000000000..db74f664ffa3e3a2e859cb3eec0df576e73c0e99
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154437.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:428082d49125235c8264fd89a656494474e89237de86ab2e8a2c0bc01f56c88c
+size 810486
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154439.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154439.png
new file mode 100644
index 0000000000000000000000000000000000000000..3465e9c89cc39f2a3643f8a93351acf04f03f685
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154439.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed0cf8f82005f0e76e16b59290b2fddbff637b0bee48213aaacdef1ffd70fa4a
+size 814562
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154441.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154441.png
new file mode 100644
index 0000000000000000000000000000000000000000..1e591446bd722e71a5002be810a062a9fae1f05a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154441.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:370086a54b664de7e377d4a19159b980b3ba6d27f8cbeb3ff4d6a94a8b993f16
+size 814635
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154443.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154443.png
new file mode 100644
index 0000000000000000000000000000000000000000..bdd6e5b3d5798652d5e2457e0e7d9f132d54e0dd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154443.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a565a59cda39a25608af1ab405bd54ecb9d74625fed9415a2e0dbe9b0a77c3ba
+size 809727
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154446.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154446.png
new file mode 100644
index 0000000000000000000000000000000000000000..ec8a7f0e9e2c9c6e1feafe00a4d4f946ce089cd3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154446.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:622aa2b7b0d7f9b1011caf6c37354d50d921c76cef70077af33cf653c5f896ed
+size 799903
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154448.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154448.png
new file mode 100644
index 0000000000000000000000000000000000000000..f54bb561e3f894988b0976f1e4e675cbb4b5255a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154448.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9999cf6ebee4250d61fd36aa26ee61579a311c2ace55cbac3a1b274bbbac8e88
+size 785649
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154450.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154450.png
new file mode 100644
index 0000000000000000000000000000000000000000..64d837ba7897871476d2c5bd1e798966be44c95b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154450.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6054b9d8e264de5ad42f1ec79ade6e6724632585b71f7768d059b3f0ba35f9e
+size 777964
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154452.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154452.png
new file mode 100644
index 0000000000000000000000000000000000000000..a3b6adc46dc79bfcd1ff8f4dd1c9dd710fd93817
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154452.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f45b2a2c363f178c461bfbdc93e11ca7b06ca232d13499cd664870164eb120af
+size 770431
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154454.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154454.png
new file mode 100644
index 0000000000000000000000000000000000000000..d8a9aeb100a9b7813b959516de9762fa7753203f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154454.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a65fec1b7ae57977ea627878c3268fc5fd51e7441a26f463d145552dd966287
+size 773186
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154456.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154456.png
new file mode 100644
index 0000000000000000000000000000000000000000..bdf060dbf6178163a3f55f979292bcfc3d6bec7f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154456.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e325f381c07ae401a1d61f3280f105180570f3285c139280e16012ca76ed26d
+size 764737
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154458.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154458.png
new file mode 100644
index 0000000000000000000000000000000000000000..771589fcb2328153d0890a7b6896b243c7d86587
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154458.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:395ef0fe481e76c09e25c7d1290ea3e62fa6f2801abe821b885444218a03e5e8
+size 754518
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154500.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154500.png
new file mode 100644
index 0000000000000000000000000000000000000000..bfd68ae1eabae4c30a022293e35d64522ab44c13
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154500.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:adeeae7d6e4904ac130d012b2a3d4481d09c396883df8cf37e8ceb777aa2d4a2
+size 749404
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154502.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154502.png
new file mode 100644
index 0000000000000000000000000000000000000000..8d87203b3459f791f5706ff432b56c400afa5f24
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154502.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0996dafe36ad9ad3b73b949ac1aa603847606e756b872a49ac423f5d54336d8
+size 721606
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154505.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154505.png
new file mode 100644
index 0000000000000000000000000000000000000000..bfe5e3fe1bc08e4aeff16d8c82dc2b79cea17f62
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154505.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecc5b2f98e80209480d11e43169a0ec24438285e27fedc276ccf0843ab1bda2b
+size 722137
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154507.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154507.png
new file mode 100644
index 0000000000000000000000000000000000000000..878b20a588f1843426ccd669b814bd4d7685509f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154507.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51ca0fd30a86905074c07ef257b56a4f4ccf517e2efef812f8351247cf86fd03
+size 714531
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154509.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154509.png
new file mode 100644
index 0000000000000000000000000000000000000000..1e63a33ff6fc97a3e4b2394f91b99808dce0ba90
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154509.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2572305f367cb409f597e4695f9948ed34329bab49bd27ac99090593030aa9e
+size 712262
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154511.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154511.png
new file mode 100644
index 0000000000000000000000000000000000000000..0d0eb59a0ac12ca120ea1246beab5977efd762b2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154511.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f79b7e82832f7294a10ff34248280566522a4049ccd9fb82d5156075adf1c2f
+size 717860
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154513.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154513.png
new file mode 100644
index 0000000000000000000000000000000000000000..4524b35ed5ec3ecfe0e43086f82d390860928bf7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154513.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a08a74fa21794aedcbc2e6bc5ca4c998b4d6176f5b0b1d82c46bb4ffa5943420
+size 700395
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154515.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154515.png
new file mode 100644
index 0000000000000000000000000000000000000000..3ab63c4e19a3f57539c0002e8a9929c6ad9bf330
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154515.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c225792755c15f33446e00f3238ba330f900a092e23eb8b6ea28e1b9bfc0652
+size 701066
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154517.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154517.png
new file mode 100644
index 0000000000000000000000000000000000000000..8552921d0de4930921d28d898b8ea2fc92192c77
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154517.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5025c4cdf59f5b6d3b66772e3aae3b08fae197fd72368f120496e38eb4dcf2a7
+size 710376
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154519.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154519.png
new file mode 100644
index 0000000000000000000000000000000000000000..be98251dd530d749c9735971d23d895b9aa3c5e8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154519.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a23ff2c345bf4426ac3fd2218b9639359b2acfd501def5ee3c702ae30290469f
+size 713559
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154521.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154521.png
new file mode 100644
index 0000000000000000000000000000000000000000..f38fea6bf71da2135f5c2244e8845abf2fccbd30
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154521.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b81ef2d0f669821e986ce07fe4637a5ca9f1e90c95f94a452f49d97348739441
+size 720904
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154524.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154524.png
new file mode 100644
index 0000000000000000000000000000000000000000..055d22a48c885b6501218fc2e216ecf84e4431ad
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154524.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b81488f5fe612d9f99d2ee332ab1a720ebcb825da83beb192f451eed76ecade
+size 723559
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154526.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154526.png
new file mode 100644
index 0000000000000000000000000000000000000000..58916ad9b895b235391d11cbbd9a9861278c4960
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154526.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be8bb7065790d71ae391021a3e560245c0b445689165ed12d9d9df328a071699
+size 728327
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154528.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154528.png
new file mode 100644
index 0000000000000000000000000000000000000000..0188747017c7dd02993d627116356bc30c11a272
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154528.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53d8cb2ae608d6eb0b6706d52fc7f54d33084321779a086aac48f244d2a81e32
+size 731479
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154530.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154530.png
new file mode 100644
index 0000000000000000000000000000000000000000..26629e2f2101dbf410547edfa1fb1641ab47ac49
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154530.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb80dd75518ba49d928ff211b9bd47d6baf20b1b6ac3edb88d16abce26944fe5
+size 732123
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154532.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154532.png
new file mode 100644
index 0000000000000000000000000000000000000000..e5b118845c227a29c4092c58f442662094cb0ef2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154532.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efcb9ec8e1ad469147febd9c302490513284c77f113fa8931ce3ec6cfdfddb57
+size 739979
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154534.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154534.png
new file mode 100644
index 0000000000000000000000000000000000000000..3db9257bb1c7e756f04043567873cc502a8dc9f6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154534.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c724ec261692db7d25770a7a4a4376f9b76936fd72ba8cb0dbf45a44e136c30
+size 749118
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154536.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154536.png
new file mode 100644
index 0000000000000000000000000000000000000000..0291e915fcb5abca4b22222bd4e0a644381709db
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154536.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6a16586f1e2670f5c601bec5044bb89feb9786895044312df0ccdb2f3a59471
+size 753948
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154539.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154539.png
new file mode 100644
index 0000000000000000000000000000000000000000..c342eb22164f25084996f5c70e37045aabbc554e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154539.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3653fc4082507f62dc4ae7c7bff851fa7ac341c86dc5441f89839ae6162f7a6
+size 753937
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154541.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154541.png
new file mode 100644
index 0000000000000000000000000000000000000000..fabe29e102287b4e0a0c64a7a9f3e33f77030cd7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154541.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f3a6c74ed20b8691fb72508feac2ce3a4c1f769fff5619acef6f326c50de738
+size 754927
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154543.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154543.png
new file mode 100644
index 0000000000000000000000000000000000000000..eb23a8595516efaaf5853fad70fa0b84e962a60e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154543.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b10668acebf0e84d1bf467d9889311f4ddafea95220d84bfd409be790104493d
+size 766790
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154545.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154545.png
new file mode 100644
index 0000000000000000000000000000000000000000..a777bfaa2269a4bcf8fbe926fb5a2f2986987548
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-44-14_1243439214/20250115_154545.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef1f7bd5be5fc87be2acbc49740b5ac2aa0e2ba3b603f7cb306d22e7feb705fe
+size 809112
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_2-12-44_1404515797/20250116_021251.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_2-12-44_1404515797/20250116_021251.png
new file mode 100644
index 0000000000000000000000000000000000000000..f5b48c1af1e66dfb7d66b8c7825ee7308f6edc3a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_2-12-44_1404515797/20250116_021251.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4eb1e87690bd2e8490dfc799a387378c21961d6fb71d0c93597279b9d1a96e6
+size 830548
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_2-12-44_1404515797/20250116_021256.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_2-12-44_1404515797/20250116_021256.png
new file mode 100644
index 0000000000000000000000000000000000000000..90fb52595df2e7fddfc0cfa5f62225dfc9025778
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_2-12-44_1404515797/20250116_021256.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57c987e7429249031413874b1a1adef5fb1b50b7b9633a78f7b88a6db905bd29
+size 804704
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_2-12-44_1404515797/20250116_021302.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_2-12-44_1404515797/20250116_021302.png
new file mode 100644
index 0000000000000000000000000000000000000000..d06a13e20ccdb48ccbab04a1577332323465f4ba
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_2-12-44_1404515797/20250116_021302.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de1bfe9baa21caeefa659666cd72023eca61096f35ca5ab71e874b1dfeb6ebfa
+size 816540
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_2-12-44_1404515797/20250116_021305.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_2-12-44_1404515797/20250116_021305.png
new file mode 100644
index 0000000000000000000000000000000000000000..370e4e90da2497eaef93d9fdd52793f5edc3e4c5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_2-12-44_1404515797/20250116_021305.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97ade1d1ea800577aa9c16a416fdbf5012ae20dab994f2a97f06399e127eae28
+size 818280
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_2-12-44_1404515797/20250116_021316.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_2-12-44_1404515797/20250116_021316.png
new file mode 100644
index 0000000000000000000000000000000000000000..ee3a4200c240a74e3dd4658f381635d34838313e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_2-12-44_1404515797/20250116_021316.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:852845f8804ec95d1ee814145d3c65079ef7e24c8b4cc023826bf70c3bfd3e7d
+size 788997
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_2-12-44_1404515797/20250116_021322.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_2-12-44_1404515797/20250116_021322.png
new file mode 100644
index 0000000000000000000000000000000000000000..22e15e00ead7ff1be702d471e9c0d3a43484ce2a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_2-12-44_1404515797/20250116_021322.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7567d07cbce8d0117ef430f58e7749add6e36622d2449e6ad663bf537d016b1e
+size 781167
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_2-12-44_1404515797/20250116_021324.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_2-12-44_1404515797/20250116_021324.png
new file mode 100644
index 0000000000000000000000000000000000000000..bad4188a08e4b0c5767f2dbe37be187b8ee75eb1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_2-12-44_1404515797/20250116_021324.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a30fa3724506a2b901b12868280e9fc93f24a79bf96d5bb4d0e1ec26191c98a8
+size 771930
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_2-12-44_1404515797/20250116_021333.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_2-12-44_1404515797/20250116_021333.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd03af9f6be0799e1032b1aa9b41ae5e7f403786
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_2-12-44_1404515797/20250116_021333.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c77d69379ea971d4745315db08494f47e675a2e8aae826c38dfe3ebe6e04f7eb
+size 758990
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_2-12-44_1404515797/20250116_021337.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_2-12-44_1404515797/20250116_021337.png
new file mode 100644
index 0000000000000000000000000000000000000000..e290c2592837c1a64922f67913273cf92d371213
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_2-12-44_1404515797/20250116_021337.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f9c4d93e3704a40f2ebf6249bef98cfb7cc59d966264afebbf4fcfd94b6c5fe
+size 754761
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_2-12-44_1404515797/20250116_021339.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_2-12-44_1404515797/20250116_021339.png
new file mode 100644
index 0000000000000000000000000000000000000000..9dbfb8672a292de494e206553ccf76b1d4943e3f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_2-12-44_1404515797/20250116_021339.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2a7726db9713c3d843b9dfb5f5c6a5e40937c15b98379a2997784bb1aa4cf30
+size 755857
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_2-12-44_1404515797/20250116_021342.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_2-12-44_1404515797/20250116_021342.png
new file mode 100644
index 0000000000000000000000000000000000000000..1a2347154e88687886e6cba3bdc0d98cb14a9b71
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_2-12-44_1404515797/20250116_021342.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25f0be7157b111eda217a510a1966f5ac7745e6f7d899bd26339ea0d1db2344b
+size 750006
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_2-12-44_1404515797/20250116_021355.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_2-12-44_1404515797/20250116_021355.png
new file mode 100644
index 0000000000000000000000000000000000000000..0d98102ee0c043388b945c8cadcbdb050b3ca6e1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_2-12-44_1404515797/20250116_021355.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f7e2ae15f17e7c641ff55e3b862418b83a37a88e917332c8562d63b03dc6d71
+size 790535
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_2-12-44_1404515797/20250116_021422.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_2-12-44_1404515797/20250116_021422.png
new file mode 100644
index 0000000000000000000000000000000000000000..c7ac5b979b04407cf6e1b97e9e1c21f84bad4a96
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_2-12-44_1404515797/20250116_021422.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43942e65eda2734f1aa1fa2ced3223746057c2caf19f50edd2687a2095ac3ef0
+size 771180
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_2-12-44_1404515797/20250116_021430.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_2-12-44_1404515797/20250116_021430.png
new file mode 100644
index 0000000000000000000000000000000000000000..e7a192c74d4bf06485fe76885de1e4cdbb708637
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_2-12-44_1404515797/20250116_021430.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb4b372848cb6e02fa10dcd7f341de86422fe6076978e3795c37ac3d336ca09b
+size 791306
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_2-12-44_1404515797/20250116_021439.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_2-12-44_1404515797/20250116_021439.png
new file mode 100644
index 0000000000000000000000000000000000000000..eb22f60c1cbdc515882ddec4659dfd482e1af83e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_2-12-44_1404515797/20250116_021439.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6006c29b7e3444fea749fd8eab1fe27383b72ecba709207764220f1fa169b5e1
+size 807111
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052431.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052431.png
new file mode 100644
index 0000000000000000000000000000000000000000..2b531830bcb7289d65c7716ca97f1dbf06c15f84
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052431.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49db286dd7b483e16cb6867e5614fcc153647ddb74fd3b048de31bec0dc2471a
+size 848649
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052433.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052433.png
new file mode 100644
index 0000000000000000000000000000000000000000..886085097574a2833c3a23108a9f00119d97de03
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052433.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a26fcc30ab53f61cec1f31da238477497935102280df7ae597319a8184a6621f
+size 753225
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052435.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052435.png
new file mode 100644
index 0000000000000000000000000000000000000000..c99274a0173b794af88b16556fc2960fa12fff53
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052435.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df2c1e52a4f549d232ecc16aab2c8e52552651a75ef1ee1527d3e1fcef695365
+size 722392
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052437.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052437.png
new file mode 100644
index 0000000000000000000000000000000000000000..8486a30e7529a135297e4b95d1522905ef25e302
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052437.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7a12d698e06aeefdb3816f5f9ef2a17f42e14ab08483d176ecf847a50c19275
+size 702381
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052440.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052440.png
new file mode 100644
index 0000000000000000000000000000000000000000..26b5a2e7b8ac86f2b0c1cc02e11566ea70135228
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052440.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df811c21266ba31aec72222b010268cdccbbfea9e80b9372fd87fb0fdf361fa5
+size 703656
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052442.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052442.png
new file mode 100644
index 0000000000000000000000000000000000000000..db977a7063bd99d180fd8a3348cfa9cba20fd5cd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052442.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4db54b0b506f636bcb7b0fd38a58b17020bad52063db098d3e19bffc5848821
+size 701919
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052444.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052444.png
new file mode 100644
index 0000000000000000000000000000000000000000..1e3bdd178c2357f5eddb7117fe58a4e795c2fdf6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052444.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c54774724d62a9c1bdbc9815db8f4102b2dc3b7fd19849fdc8d417a5bba290e5
+size 698014
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052446.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052446.png
new file mode 100644
index 0000000000000000000000000000000000000000..b1f40ad99dd8b9c19a9f1a1b3a51e0a5b3903782
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052446.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8cc48bab139f7836c922c4badfc7bb0865e76a7f239ad09af8e930b94980db0
+size 696314
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052448.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052448.png
new file mode 100644
index 0000000000000000000000000000000000000000..be327f941afe5251bef10bcf0249a0e89bc7c5e2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052448.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b0dadcac9703d9e3eb442529ec3e7a34ac17ad05850754b13a45010dfc79c83
+size 704769
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052450.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052450.png
new file mode 100644
index 0000000000000000000000000000000000000000..7cf8c0edfeb8d42d5a33ea95498ab08d76bd7f29
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052450.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2209b00c51086538c3564d356c8f79c6a00bba31c5209c74532905e844fbd510
+size 714698
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052452.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052452.png
new file mode 100644
index 0000000000000000000000000000000000000000..e541b4a9468133e7ed0e8ccc964fb52e259e289d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052452.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c426f5576c86e18367d05153e011884ab08819c6aa173fb37796beecbc5d163
+size 711438
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052455.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052455.png
new file mode 100644
index 0000000000000000000000000000000000000000..678d91afa436fb61ffba8a9824264f151ea88077
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052455.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c814ba6364e4e4a488e52923b6a528443e4023bc02e506432dfa9a474cb68dde
+size 698407
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052457.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052457.png
new file mode 100644
index 0000000000000000000000000000000000000000..c0592a10391cdea2aeca6f3481025af3a399b853
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052457.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96c858e1ead5f71d5cb8ac3f3a5c22860279dfa8637ed1da609b8bb5c8457dbf
+size 696335
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052459.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052459.png
new file mode 100644
index 0000000000000000000000000000000000000000..9648fa3923024bd3bfa107e75506de2e9036927b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052459.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e07d5ab6679c2789a8d17dadbaede850cfdf4281a4f23265efea0c2bc1630a22
+size 706002
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052501.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052501.png
new file mode 100644
index 0000000000000000000000000000000000000000..7f48b53b09c3696e913ce8b63f5e46f40c477820
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052501.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d129eae59722abd6babd2623d7221afabfa88928bd11375a59fe0580f289947
+size 721829
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052503.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052503.png
new file mode 100644
index 0000000000000000000000000000000000000000..5724519cee48ee3bf431ce4b7564d254381cb66d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052503.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6514816c1b2b581418084f8b6f2cf26133bef93e694fefab68ce7d08ac3d1fa4
+size 723319
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052505.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052505.png
new file mode 100644
index 0000000000000000000000000000000000000000..e37f502829b4c839b032e0e453d1ea3019ed51e3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052505.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a37d4a2a5dc992f031c658a47bafdef624f539cdceb2508c89727edb970dab9d
+size 728192
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052507.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052507.png
new file mode 100644
index 0000000000000000000000000000000000000000..628608e90b8cc26fd070bfbc6cad9d322a2e3d5f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052507.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a9d57e631f295bef44e13277d65a3f49d653e225fbe763ac49944a8e35465b2
+size 739560
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052510.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052510.png
new file mode 100644
index 0000000000000000000000000000000000000000..406a811d1b6ff1ee28ee68f690d1d87b3476da4e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052510.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef86ae382ce4c157815320625d45c20f4dde34746af7ac89cd049034be4c166d
+size 741452
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052512.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052512.png
new file mode 100644
index 0000000000000000000000000000000000000000..b9d393e6a2d7f96050b3c32f0bb0183aa34333da
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052512.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7d7e0936f28f7c3fb1b5589ca1ea68d7175f9827435b23f44a15b6639f8a446
+size 749759
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052514.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052514.png
new file mode 100644
index 0000000000000000000000000000000000000000..284111fa5d9250b45809c60962d353873784cc42
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052514.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b58ce1055a92c3821842f487812fa1e7fec107475d5bcf7f85b52a03499aa41
+size 750865
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052516.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052516.png
new file mode 100644
index 0000000000000000000000000000000000000000..75e047731affecfc41ccb124a2d99a6ae0f1b45c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052516.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb9ccd92a30033230c2f284d62cab80e57fd9c7c6b4a2cc38a4c6dbaa10c54d0
+size 739186
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052518.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052518.png
new file mode 100644
index 0000000000000000000000000000000000000000..5f3873dc57b64deffd100b57f7449d23f658e57e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052518.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d5bd07821cc346589d13c0b794ce16302850f5b4d801ecdbd904efeed9b8974
+size 740275
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052520.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052520.png
new file mode 100644
index 0000000000000000000000000000000000000000..c07a155ff5855385ad27a741fb0aaf13e87a50ae
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052520.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f3697687291421a93536b95697e2a9c85d68cb487bb5e9e0b660a079694bed1
+size 745554
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052522.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052522.png
new file mode 100644
index 0000000000000000000000000000000000000000..745d6934fa2ab922f5230c65f410827fddd4d7cb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052522.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe08a937e13339e6466d06c9da07a1fe94c82d114d16646c862cf388edaa8fa6
+size 745818
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052524.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052524.png
new file mode 100644
index 0000000000000000000000000000000000000000..0e6dbf87f311d2b5f020705e16ebc54a03d2d6f4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052524.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6936a5bb2d1670a3b4e2c1596c8dfcb65a018b1ec07bd1a97bbb45d6cbbdf078
+size 750065
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052527.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052527.png
new file mode 100644
index 0000000000000000000000000000000000000000..cdad76d6bd2c96779a00926fc4fe82a246b8555a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052527.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a15b9c28d5446c884fb376ca781c90ca45e50e38ee1e660e057d610bba5b2705
+size 748557
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052529.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052529.png
new file mode 100644
index 0000000000000000000000000000000000000000..11bbf31793a42b88dbc98b6bc3750d17ee861149
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052529.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2f2c9153699ce45e56ebdfa0cebc2179e7746a0916b91b33279766ed973ad6a
+size 748792
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052531.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052531.png
new file mode 100644
index 0000000000000000000000000000000000000000..32d7ba4c3b6e8cf8fa9cfa0fb8545e031669581c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052531.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f83f6e7b0e4ffc7801805cd4da6615fde4f4d576510042ffa72d89052255959e
+size 743821
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052533.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052533.png
new file mode 100644
index 0000000000000000000000000000000000000000..c3004fd2331bfd98a8c4c3da6c9dd877d9f1a66e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052533.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb768e7f75f81875eb3f98831280c60aa14a27bd59b4df95bee969667317c2ed
+size 740739
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052535.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052535.png
new file mode 100644
index 0000000000000000000000000000000000000000..f8bb35ee461296dcf1e9b6d1c3ef056a16c88f13
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052535.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72eeb7a414095f8dda7afcdaaf90fa19598436bc7df21be235f8fdf616771070
+size 741485
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052537.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052537.png
new file mode 100644
index 0000000000000000000000000000000000000000..e5acc8bc288010bcb013dd56b3e00be67caffeff
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052537.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2875eda3b40403aaff35d5bd53452dcbdf2e7c65487af7a3da7bc7b73960780
+size 735930
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052540.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052540.png
new file mode 100644
index 0000000000000000000000000000000000000000..a9d3d3c25f331529e8a92e777daa3d8ff9829e3d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052540.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ab58f47bbd0a022f2b2d15d73caa28b67ee4903d63c323bedd1e8627df9c917
+size 726153
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052542.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052542.png
new file mode 100644
index 0000000000000000000000000000000000000000..eceed99870c03bd1e45cd5446acce3c36bbcb130
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052542.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c047554e07700e316a9cfecb5660df1a3c9c2d5b895e44805b0535abd876bc7e
+size 718465
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052544.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052544.png
new file mode 100644
index 0000000000000000000000000000000000000000..45dee7d8892ba3dec1dfc24a4e2a0bc1f3bf4fb1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052544.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84ca58303af52dedc842491b5b7412b3e76cfbbe2a0f0893210626662c7d909f
+size 719889
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052546.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052546.png
new file mode 100644
index 0000000000000000000000000000000000000000..5ef40ec4a43b9da7baf56d2ded91eeca684f9aee
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052546.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:275d0cce05ff435ff7efc91a64330b7f2bf09e417b34f61f8d5371c1d9492ec0
+size 724058
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052548.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052548.png
new file mode 100644
index 0000000000000000000000000000000000000000..c5e117d2019907238778e39e47a947b6ceaf63a6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052548.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d810086c156e592b45f4798f929f9bfa1884f71773ba4d21c2c6203c12d4e049
+size 727337
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052550.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052550.png
new file mode 100644
index 0000000000000000000000000000000000000000..34c60cb5fb17d4f376ad9287539b9390aa840a49
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052550.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72b4f6e0d88348af3dbd77c15ca2c0eda5647f2d6042252c7bab4687280d7487
+size 720392
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052553.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052553.png
new file mode 100644
index 0000000000000000000000000000000000000000..c7a84a9c4600a6fa7d701c1191088757e5098ed1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052553.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:929242cb1b9f2d8dc13b100b0b7deaeee23f4e46c4831a4fd7780d7b9ccfbb47
+size 719043
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052555.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052555.png
new file mode 100644
index 0000000000000000000000000000000000000000..9cc4785e6539709887e6612491e70db3705b16bb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052555.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b61e49b4bd04fca3a829252cdbf3451c247fe8682e011269d3570661817a94c6
+size 724244
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052557.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052557.png
new file mode 100644
index 0000000000000000000000000000000000000000..5d6159c0f71165772a9f07b1ee05f4a7b477c69d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052557.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06d792d888d8adfc24c2d08f4e70bbf28aef3fcc982da9263fad58c11e8d32c8
+size 715560
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052559.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052559.png
new file mode 100644
index 0000000000000000000000000000000000000000..03e5d6b3d307698808869d6ba833888d112f5d79
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052559.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b59e76c4c6d0b27becc4900562c95fb8ea19f13b188816807da009503ccb4940
+size 712349
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052601.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052601.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc0815496898303181ca7c81f4c763ebf7c5f383
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052601.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20c979cb45261e049f053c35d4a24283a90270de4cfe02d9b7e48094e7cb8a5d
+size 711937
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052603.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052603.png
new file mode 100644
index 0000000000000000000000000000000000000000..a4b041c3013ebad5d44e40eba71e1afe733f3d7f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052603.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f3c5c73a0f0b2c923c04a58396df184f9af04fab47227b7647a1b141d949989
+size 712037
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052605.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052605.png
new file mode 100644
index 0000000000000000000000000000000000000000..546fd42660ede703ad86ed21a59e41380144a97c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052605.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87b6170c9a657a11c581d0a577ee9c7d04f45d26e33e15dcbaad921362f95eb0
+size 713638
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052607.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052607.png
new file mode 100644
index 0000000000000000000000000000000000000000..b2544ee3a0bf23dc117b54ac4be28fcf96d9fcd0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052607.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73694a005fc5e394ab26ee42e268aa9d810cdeeaa6ccd6081a742d4226680e4b
+size 711430
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052610.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052610.png
new file mode 100644
index 0000000000000000000000000000000000000000..66bbd8e56b392320082589819f84e1c92a4669a7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052610.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:960939c7fa2a717647af6350813cfed163f65e3aab40c854d3a011a0e92fdf06
+size 719586
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052612.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052612.png
new file mode 100644
index 0000000000000000000000000000000000000000..4da651f87e5d2b46c953fcce0d6e9d7f88a2310c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052612.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39e5379b5687dd337283bd0305ea7f52d8485d874a0a11309093029b22a8587e
+size 737163
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052614.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052614.png
new file mode 100644
index 0000000000000000000000000000000000000000..6ca48acf38e616b2cc7a9921f6a60f28e87b5328
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052614.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3747d216384b49c0f0472220e54ef2a96cc98ee0fe60335b06e83e1358c0c49
+size 749524
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052616.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052616.png
new file mode 100644
index 0000000000000000000000000000000000000000..0d2d83ef85cf95ce495d15382da0a290f601696a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052616.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7b3e229293cb1e2096909c916eef11c0793555c6fb4f0a52ef2cb8c97c0dfc3
+size 768348
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052618.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052618.png
new file mode 100644
index 0000000000000000000000000000000000000000..e8339a63adf31796b106a502bd9f15aafa21fff7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052618.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5192df307bc85170630d5f349ce28858160e20c092f2dc9887bbb5a83b099c98
+size 782817
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052620.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052620.png
new file mode 100644
index 0000000000000000000000000000000000000000..058262e824deec8ba0dccb0c5800d647f4df3790
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052620.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c92694f77abf4e1b6f8f434e9fe9a170a3e1824825e74028edf65940c8ce9a54
+size 787175
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052622.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052622.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c2652eaa713a3e0f0cbd3e62ae79901d17edb15
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052622.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfc458ca54696fdef58fb97899bcb4cc3b631b0fec6f9ac64b7a1d7ce4b42b50
+size 776185
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052624.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052624.png
new file mode 100644
index 0000000000000000000000000000000000000000..b50bbc673b35dc38e41948fea47d469db0525dad
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052624.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e3e9c738938950e67561cadaa1debe25f94235c100a15bda959e9b7333aa5ec
+size 732341
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052626.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052626.png
new file mode 100644
index 0000000000000000000000000000000000000000..a9acaf4be4bdfd796073bda85db2e419f1a1e242
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052626.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bb571c2cbb1f295580106db807652f42d1f929c60b58c3ba8eb921a9b456488
+size 669926
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052628.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052628.png
new file mode 100644
index 0000000000000000000000000000000000000000..1eab33f4fe6817852f6d33df4b58e14dd411efa5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052628.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32c6caa2a38b166dfa622b7546dc48e362877dc28d595a8e6b3297776cc8c15b
+size 635853
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052631.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052631.png
new file mode 100644
index 0000000000000000000000000000000000000000..5205538c4b687963ec31380abbadb1465e62cd07
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052631.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5e67a31eff2b5b4cfcd3de9ef953cccce6f36f15111d2a30aa0ea4bc78685b5
+size 582739
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052633.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052633.png
new file mode 100644
index 0000000000000000000000000000000000000000..2cafc896f5b9acaeb51b7d54e0aa6be3e118d5f5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052633.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb6d934029874060c888d51e14f1529f863d6d562564d6d4f6d8394982735a77
+size 570269
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052635.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052635.png
new file mode 100644
index 0000000000000000000000000000000000000000..d7f7a7a01081fc914cd3866c4b7d0386272fb95f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052635.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a788939f7a1c3f1c83928767e4198d28b72a95cd3e20cc6c5bab7b1cb0def1d5
+size 602210
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052637.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052637.png
new file mode 100644
index 0000000000000000000000000000000000000000..295fe79c83c75c5fc20e115277c85f9b9113f908
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-24-25_1412277685/20250116_052637.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b4366f001497cb19ef393f6f3e94b3f2e72496e80ee2a16b5d36efbbac41d64
+size 654953
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083644.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083644.png
new file mode 100644
index 0000000000000000000000000000000000000000..590263e84afab2cd85df28a3453e1eca2373d0e1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083644.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c4d5512073ab5d82d145efba6dba7c4abe68a7bfe418ff6a9cfa6b95065b6e5
+size 664475
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083646.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083646.png
new file mode 100644
index 0000000000000000000000000000000000000000..9a5dd749d53cf92a8231e65312d44ae9fe77fc16
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083646.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0f7508982d0432458175398f7a4a1b3eaaebd5426bf457a26759dcd07a5a2ba
+size 670001
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083648.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083648.png
new file mode 100644
index 0000000000000000000000000000000000000000..76b931a4f9e5d6d34f0ca55859cc7c4760eb6b72
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083648.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4006b47ed006c48835d0d79d92b0902c2810aa2b3dd4481416d14b4a83ddaea
+size 678221
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083724.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083724.png
new file mode 100644
index 0000000000000000000000000000000000000000..c008141e593a0881eb19f369173af862100ce496
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083724.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f07a31e4b7a4797dd4ef92124e0b030b99c61e319e0bfec88dde17d4d0605f12
+size 729413
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083729.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083729.png
new file mode 100644
index 0000000000000000000000000000000000000000..bd15f5f1998653f79a6e0386694af3181c997e4a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083729.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f8a985484dc0531fc5ed3462949ca9cc692ea83713a6885d85fc847ed27edce
+size 730901
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083733.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083733.png
new file mode 100644
index 0000000000000000000000000000000000000000..2e1561712977143d8f5d1cbdb9e2ac51a4a6b328
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083733.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4bfb7b1d94e5834c3d57df7d269c7704c86d8fc9f884ea6e88e09f4cad4136b
+size 733930
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083735.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083735.png
new file mode 100644
index 0000000000000000000000000000000000000000..e40ada689172eb7ef296e79b46915d920645c79c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083735.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53282482e063070543ce391eca5be98c5d58b7e7a263e151a6f52101d9c8ad81
+size 733228
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083737.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083737.png
new file mode 100644
index 0000000000000000000000000000000000000000..4e7b5c79362b846621f9fba8a1475256f50a1a78
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083737.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:833358fb37bb161a281bb6f795d72778338f9bc463751bfe38d2dfba0da095e7
+size 737285
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083742.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083742.png
new file mode 100644
index 0000000000000000000000000000000000000000..8540c08bff80851044b3fbfa8f3cd82320fd0d1a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083742.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c93b58210bdb5b9b5bc9c9a5edf803bb0359b68147e447c70abaac246300ecb
+size 744879
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083746.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083746.png
new file mode 100644
index 0000000000000000000000000000000000000000..ce24fbb266509f7bae0f15bdc11c527faa797310
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083746.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0d2f64d51df5393172d25dcd2c60d0aae7edb40b55fcf2b6a3c7a43695355ef
+size 752012
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083750.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083750.png
new file mode 100644
index 0000000000000000000000000000000000000000..54affb6135357799a3d797ca6774c1fcb5e4299f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083750.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9150461a88dfcae60b800f9ed0dc882cf1fdafdadc830fd2701f142411b93795
+size 758290
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083753.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083753.png
new file mode 100644
index 0000000000000000000000000000000000000000..cf9d4c448c8685684a7374937f0df318ee7ac78c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083753.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21f4af72d940da21c9cec52abc085dfe93b3776371e1abc2303e44f549c20cc9
+size 759913
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083755.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083755.png
new file mode 100644
index 0000000000000000000000000000000000000000..e5481cfe635085705e317f231f3c80733db83142
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083755.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1708c90d048bfa7baa7a092b27bc4bdc6f1afb03031525bb04a3a43f76054535
+size 764130
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083817.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083817.png
new file mode 100644
index 0000000000000000000000000000000000000000..03fc33873b5add94bff0d0b6bf388d16bd757306
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083817.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4db022a1b11eb05d35c0110899b111c0eae8869fd5cd3a5c71d06fd3e273cd56
+size 812621
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083826.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083826.png
new file mode 100644
index 0000000000000000000000000000000000000000..4cd5a96b1eb3dc5019139e59a0f789b15f3a8705
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083826.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5a18e711ebaeab736378977ccf1ced67c4e447a1b50782bae897394303f8d54
+size 811749
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083832.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083832.png
new file mode 100644
index 0000000000000000000000000000000000000000..e272d806d9b3a22303a465223d4ece8f292054ba
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083832.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a14dbc5d1f7ae44685e06315103e42e3464304131892aee6982f3674c1701b8d
+size 815070
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083835.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083835.png
new file mode 100644
index 0000000000000000000000000000000000000000..d7aaa6e42960c78f7b13172febdae2ca1acc3410
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083835.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31f753cc4ecb762d52020040897d2b581d21cc45f7b509e535a3a93334654889
+size 814936
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083839.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083839.png
new file mode 100644
index 0000000000000000000000000000000000000000..9a0508518abe831abf6f4a84cc771f7775ffa658
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083839.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60237a8571c3b78a1c1e967151880d34147089b6fd6ad6cdc623779aef29507a
+size 813872
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083841.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083841.png
new file mode 100644
index 0000000000000000000000000000000000000000..8706fbbd889169cc6318593969dc16342e500cca
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083841.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f0842ef897c9bce1b2d4effd9940582755683246897e574bd61387b5b27a9ba
+size 813453
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083848.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083848.png
new file mode 100644
index 0000000000000000000000000000000000000000..3b8ac5b510fe116d7d8793ee124b0cba9f406c9a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083848.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d812104ee2603e335d136eb45c77a6a364791d3575db8cd723a451b17bc45c2
+size 811137
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083852.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083852.png
new file mode 100644
index 0000000000000000000000000000000000000000..f157676ef64580ee2bdd4c8f6770a67d03034817
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083852.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41aa9e0bd87de2af718da20fe42938746aee0489a3f74e0a71a72e58f517602c
+size 811702
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083913.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083913.png
new file mode 100644
index 0000000000000000000000000000000000000000..c998cb6ecbac0c373bfb7c222aba47030d727673
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083913.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:254a481b52c4ee3d5d289169607ea7058bcfa7ad518da5b1211afa11374cba54
+size 903986
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083915.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083915.png
new file mode 100644
index 0000000000000000000000000000000000000000..64831a9b2e29e43c65a646f1851597d994821998
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083915.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6676ca79aa24a3730b3114e369fcb88333a072db8c8a5616fbdc61f20bbe1c2
+size 921813
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083920.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083920.png
new file mode 100644
index 0000000000000000000000000000000000000000..b4890bd792cc659a0f93655299dabcbd664c819f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083920.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f559326565e7928f6bf30880794ff27f877b2467a95911a9c6dac98e43c98c59
+size 909640
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083922.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083922.png
new file mode 100644
index 0000000000000000000000000000000000000000..3f4b16c4ed6b8e3ea57389863800cd0ebe5d9323
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_8-36-35_415522325/20250116_083922.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e4b4b4866030df3026190879aea0003e8f7e1c1c13c75192dfbc62d1e06a3f6
+size 896066
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_093949.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_093949.png
new file mode 100644
index 0000000000000000000000000000000000000000..997b40d79a58151a1e77d2fcf686c62143545a74
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_093949.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b346327e0e439f97d5ea43a6597464e0ac98e13d62ec396101700d95c40d630
+size 613282
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_093951.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_093951.png
new file mode 100644
index 0000000000000000000000000000000000000000..81d3b8b13a33d02d2ff03cdbb8c1e32ed5d367b0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_093951.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a61949df8ee8741cd7255c8a88e0927542bd6eb581b4b711ca047897e0cb0700
+size 822380
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_093953.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_093953.png
new file mode 100644
index 0000000000000000000000000000000000000000..80a6475e0f0f27d58fe32afff193ea2a875777db
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_093953.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21c0eb8fbf53ac829ea907afec3ae4f7829d7e0ad1668e7e7281e432a5b22a58
+size 801833
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_093955.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_093955.png
new file mode 100644
index 0000000000000000000000000000000000000000..b44e6caf89ee2654f6a7a351949be851d76a9fbf
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_093955.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bbe6356228b2db914c81630ef860b0c8c8e2daf21904177fe4a76b68608df3c
+size 777148
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_093957.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_093957.png
new file mode 100644
index 0000000000000000000000000000000000000000..bbc1e17eafd94854fb02ce20424add83df1c1f49
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_093957.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a4c72c09a546c3c54b7701b5a63f1a6f83bcd903ff77ff7bb3a489cea3979cb
+size 787712
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_093959.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_093959.png
new file mode 100644
index 0000000000000000000000000000000000000000..049558ae2fc7ffc38d94b4479cb62c6dbc23e1ad
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_093959.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6578906122e400769ae9eabfa9d2615ebb1ba9904674ca45d8d11e20fa5fc969
+size 793083
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094001.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094001.png
new file mode 100644
index 0000000000000000000000000000000000000000..af80112ca5c70a03bcc9ab227498110b061135e8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094001.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e088dea89a36eba4aa45b1771779ba3560dfe09c6b1bfd7b7035bba77481a6a9
+size 795774
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094004.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094004.png
new file mode 100644
index 0000000000000000000000000000000000000000..33c65800fba7d9e8a5ef5f5d88ffb0eb842237f8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094004.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a7048bddf6e82efc46b93499b99fa1cf840aaa4da3fae45a78b28acd6fbacae
+size 796452
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094006.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094006.png
new file mode 100644
index 0000000000000000000000000000000000000000..bcdf0e066072c8e4a784dd6708594669528ab0bb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094006.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c1a469eb74a6ee757982a51352d60450bf8862e8f72ef6e0f2d907e985d8e66
+size 801545
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094008.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094008.png
new file mode 100644
index 0000000000000000000000000000000000000000..4e3fd8823968c50c49945ef6a062add43c351bd6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094008.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d1d6e6f009f9657ad4622722aadaa1e73ad3459fa7a4082bfe584718f40ab16
+size 804553
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094010.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094010.png
new file mode 100644
index 0000000000000000000000000000000000000000..61985db8422687e40230bbfa51e1715ecb9bd475
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094010.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09128c85425c26d02ba8c5652e90507f83b67ca8b551e8125e964a62e9ac9fe7
+size 803893
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094012.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094012.png
new file mode 100644
index 0000000000000000000000000000000000000000..23bb7293451da03908f8587b0da9991e231fa5ee
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094012.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da39aa836a4cb39e35008eada01d6d99b296d5a1aff28d4636036cc3e6f7da04
+size 802912
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094014.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094014.png
new file mode 100644
index 0000000000000000000000000000000000000000..8893a49d643912e84b58c7e5ec8b3765ff0afd33
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094014.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a98d2e21a7e68eaceb0f150d647ceab244162bdc2966064572043c7145277eb
+size 807015
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094016.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094016.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c5e14484221811b2d859da62d4284ac23132391
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094016.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10b215431f00b32af32000e7ee9ecaab90d3da843ea5596b24f20c47adeb03d0
+size 810064
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094018.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094018.png
new file mode 100644
index 0000000000000000000000000000000000000000..d3712e2e04c2cc7a64dc0ed52709b52984e75f0b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094018.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7c788858d1921fd650b21f1c617bbe44e7073a1e8673bc8a4453a742f14e694
+size 817854
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094020.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094020.png
new file mode 100644
index 0000000000000000000000000000000000000000..1dcd88a12246be547a257b9ea17e26450321fbce
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094020.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4af71d56492c84cafba7655552b2f02e7bab0182851c2d4f073e31517434169b
+size 823058
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094023.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094023.png
new file mode 100644
index 0000000000000000000000000000000000000000..e9ec2aa81ded9f55c02affed365f55139e0464a5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094023.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cac2f7c1f8d4848b63d24a8aa80734b189a598aae4182b6105b49901da1d1ecc
+size 829693
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094025.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094025.png
new file mode 100644
index 0000000000000000000000000000000000000000..cd09ab2115c8cf8b8824c2cff6e19ed713cfa134
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094025.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82e508f180298d35405b1d2612ddc42358214befe7fb872171315da46e4c67d8
+size 832305
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094027.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094027.png
new file mode 100644
index 0000000000000000000000000000000000000000..7cc24f7e284db75aff03a1522a76ec272528c8a6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094027.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35008676f29f29387a73752004e1fc3e94dd5a957e5c790b14efdfd309783f06
+size 834200
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094029.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094029.png
new file mode 100644
index 0000000000000000000000000000000000000000..f538c377f3a7d5ad21cab9a35247f040f0604393
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094029.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:580eef43a3e5444b576c287006ffc741e8ab572756700938e6c32659dc202f78
+size 833824
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094031.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094031.png
new file mode 100644
index 0000000000000000000000000000000000000000..5d0e0f7c4a64c98c44a8d0e61d93704f5c31a2c1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094031.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55b9de5faeb0355f555078ab47950639987e5705e446ef6f100efc5c064ea1a5
+size 834388
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094033.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094033.png
new file mode 100644
index 0000000000000000000000000000000000000000..ed1513f0da898061093e6e2db89e89470b32eda3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094033.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:328a93ea13dff0e4bdaa28559029f6d4c3b1dcd595428d37fc282cdce88405dc
+size 832593
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094035.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094035.png
new file mode 100644
index 0000000000000000000000000000000000000000..14729ee4956d61986160fb8c2a638764b4da4a21
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094035.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b485070c13f5f7d3c5162e4c812c89a4bbb0cd902fa4e92a0d20cbdb6277ba81
+size 828043
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094037.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094037.png
new file mode 100644
index 0000000000000000000000000000000000000000..2f6f4c6440a831c71d9ea426b4fe46d3f27508a4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094037.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:096d056e1d48d7154c85b0094c1a1ef73008243d4a942df0ba03a4d6d14c2e53
+size 815903
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094039.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094039.png
new file mode 100644
index 0000000000000000000000000000000000000000..7386938e3c1b2890d148d48c39457b3be88fc361
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094039.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62a89ae84feb25cfc78df1855822198c255e299f56ce695174fb8915bbd00147
+size 818580
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094041.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094041.png
new file mode 100644
index 0000000000000000000000000000000000000000..7836e9a0d1bfb53927fdc5fa987bb9befc384431
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094041.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66121f23877eba1201f76dbbdc64fff694e471f5b4ad5e3e5d6527b05a74ffc8
+size 821730
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094044.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094044.png
new file mode 100644
index 0000000000000000000000000000000000000000..8771c49cad86113f5afc1d9b09f0a0203627f5f2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094044.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af8b7b1b12bc5c404abd30700e9ee2e98e81e07a7074e010951e819709ce8076
+size 820586
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094046.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094046.png
new file mode 100644
index 0000000000000000000000000000000000000000..03ea1a4ef0d73db561a1884ec56d4a1b0f28aec4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094046.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d64e8c147b3989231d82be037cf48a7204eb076cc8855c9ac5fe085345a16496
+size 820756
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094048.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094048.png
new file mode 100644
index 0000000000000000000000000000000000000000..b8c5227186d884089cfbe2ae5679a4e3be5d971d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094048.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3cd6596562e0697e07cc324d3d1a4162bddd014399160753d3da7cf0dec9477e
+size 818187
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094050.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094050.png
new file mode 100644
index 0000000000000000000000000000000000000000..fc6ae2db1ddf958f46a5f19c0018bfcee0393362
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094050.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b919a351adde634726463e9d4fc2654d65e9b9878071eeae5cb0883eb84271ef
+size 820323
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094052.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094052.png
new file mode 100644
index 0000000000000000000000000000000000000000..3968991f5042d93ecefbac2e26c49fcaaad5bd46
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094052.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6319b222d346b23efc350eb3816cf12601d856c94c86ed7cc8601e301544b107
+size 820875
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094054.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094054.png
new file mode 100644
index 0000000000000000000000000000000000000000..e87f71a93e3b8d61b3b5dc7f4adf5df93e617b43
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094054.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d3858285699baba1631c23acc731fbf33c000b6350923e3b3a04abe8a2250f7
+size 820011
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094056.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094056.png
new file mode 100644
index 0000000000000000000000000000000000000000..e6369e2d349f59914e2e3172f6fa4fa09f850b7f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094056.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29ea157df4aae043c4e34bd8e1c7a5ae2ebfa65a2c33338a6152af32ebdc210a
+size 814296
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094058.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094058.png
new file mode 100644
index 0000000000000000000000000000000000000000..7848cefab6a4b1954b45f89566ed3d3fd2174a8c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094058.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d70f272f41cfa22917bf3805010ce1850d038689f091017bd2ffe59bfe2c9ddc
+size 809273
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094101.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094101.png
new file mode 100644
index 0000000000000000000000000000000000000000..ea8e5f8db6d47d339021c1dcc6d9736513e3148d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094101.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0eb93e38d7b9aec3c31d286f99919e5f5ba4b86b431ed59158cbffcabae6da1
+size 801881
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094103.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094103.png
new file mode 100644
index 0000000000000000000000000000000000000000..3e52bbbf18e9fe01e06d31cbed077a9d5f96c7a3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094103.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b8c83e80284732a2f7c130812249face833b70415f379ffd080207f1d31c411
+size 794054
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094105.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094105.png
new file mode 100644
index 0000000000000000000000000000000000000000..0f3b283370f68f04a85992b059e19518a2ad4aea
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094105.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09a6cd9610abeee623e1d1c2b5ce43d98096c99c370f5459b8cbf9e9b7a6b519
+size 787953
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094107.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094107.png
new file mode 100644
index 0000000000000000000000000000000000000000..126f8d15f4e880d66366198bfd56bca9ecb29cd9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094107.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bf1b764e618616cbc842c615ace0819830269c01b98404a31b568aaa6018a86
+size 793444
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094109.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094109.png
new file mode 100644
index 0000000000000000000000000000000000000000..b63328106ebd21ddc714cc97176772ee0e64361f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_9-39-43_1119399015/20250116_094109.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:296617d485b56412c25708f06f512b62d36cc215ca72bcafd30e717c321490aa
+size 374719