diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-16_21-4-32_1973594324/20241216_210439.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-16_21-4-32_1973594324/20241216_210439.png
new file mode 100644
index 0000000000000000000000000000000000000000..448b6cb6b04abe40d67830a96308d4faff0d7f67
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-16_21-4-32_1973594324/20241216_210439.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72ee987193d0fffae4cd3762115ce9fa74ff83bbed813d37e836c997c44ea520
+size 755597
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-16_21-4-32_1973594324/20241216_210441.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-16_21-4-32_1973594324/20241216_210441.png
new file mode 100644
index 0000000000000000000000000000000000000000..85599db8e36a7f1d091cec43c06f0d8cbd4e80e3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-16_21-4-32_1973594324/20241216_210441.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f19472454c45b0401320a3c8faf957472a98817ee79c2fc7d71edff9f41ef5e
+size 748921
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-16_21-4-32_1973594324/20241216_210443.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-16_21-4-32_1973594324/20241216_210443.png
new file mode 100644
index 0000000000000000000000000000000000000000..7e4678b5c9839518bda31e4708554d4bef6bb17c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-16_21-4-32_1973594324/20241216_210443.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12fb8b8543515689e3042ac1308b623f1e2bcbc7ec8decfd01a4edb60893c1c3
+size 752685
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-16_21-4-32_1973594324/20241216_210445.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-16_21-4-32_1973594324/20241216_210445.png
new file mode 100644
index 0000000000000000000000000000000000000000..0cde565b566c15bcdb5b89c20bbce167c5eb0d7d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-16_21-4-32_1973594324/20241216_210445.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22b33c447b5d2d5baaff5b1846f1f3a5b4aece50390eda3b94d5f7ae2020b764
+size 752386
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-16_21-4-32_1973594324/20241216_210447.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-16_21-4-32_1973594324/20241216_210447.png
new file mode 100644
index 0000000000000000000000000000000000000000..69bb765bc6d39c6c321e5a4cc67b83c962c21e84
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-16_21-4-32_1973594324/20241216_210447.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c65165bd7dae288cf125389329b5bad44a84a1ab40a439a985b0ebef16cff85
+size 748099
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-16_21-4-32_1973594324/20241216_210449.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-16_21-4-32_1973594324/20241216_210449.png
new file mode 100644
index 0000000000000000000000000000000000000000..782e0a5e2487292b921830a6ab479d2fd995970a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-16_21-4-32_1973594324/20241216_210449.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e3c64bbc9b1d2137f2ae5acdf998a272c442d4c326ed6e3538eeb7f7b25daf4
+size 739214
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-16_21-4-32_1973594324/20241216_210452.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-16_21-4-32_1973594324/20241216_210452.png
new file mode 100644
index 0000000000000000000000000000000000000000..4ffe7ac1974a1fd77c16fa39c799554877ebe760
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-16_21-4-32_1973594324/20241216_210452.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94b75dee089ca194cfb2c8108bf4ac70fe6af0255ef9c0093fcda59880684501
+size 730774
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_0-58-4_1389867269/20241217_005809.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_0-58-4_1389867269/20241217_005809.png
new file mode 100644
index 0000000000000000000000000000000000000000..22250ce6524f9a2c84e0a96b7ca82a9dfb8df06e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_0-58-4_1389867269/20241217_005809.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c93b10de101d32def9117fcdd54d52c5d879a717f13f9f3b3063d5bd5c58275
+size 746816
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_0-58-4_1389867269/20241217_005811.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_0-58-4_1389867269/20241217_005811.png
new file mode 100644
index 0000000000000000000000000000000000000000..429437fc31d6ad301eefba5bab4f85470f0b0ac3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_0-58-4_1389867269/20241217_005811.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6cca4e8466afe6a56ac61a5084bc2ead6be81a48cd90cda1be8f9065cf60ff33
+size 740723
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_0-58-4_1389867269/20241217_005813.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_0-58-4_1389867269/20241217_005813.png
new file mode 100644
index 0000000000000000000000000000000000000000..7d5fc65a6839c028f10d76129c4a555f83f4dbf4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_0-58-4_1389867269/20241217_005813.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14d1c02276630a9b330040dc0a5a8df09648107791a5f32197475be256cf524a
+size 721373
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_0-58-4_1389867269/20241217_005815.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_0-58-4_1389867269/20241217_005815.png
new file mode 100644
index 0000000000000000000000000000000000000000..7c23f28bafd3c53e38b713766f8c7de0ee8aff83
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_0-58-4_1389867269/20241217_005815.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e5a74299600efa18960f467fd46fc4e41643aa088045539f548b9d4d16fb0c0
+size 720532
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_0-58-4_1389867269/20241217_005817.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_0-58-4_1389867269/20241217_005817.png
new file mode 100644
index 0000000000000000000000000000000000000000..558e1e6322bef8fbc42ea717b459510cafeb7042
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_0-58-4_1389867269/20241217_005817.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b0975aad0cd7b081642d7737e9bd1fd6676722f0221f1e99a0d6280c8b154ca
+size 722026
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_0-58-4_1389867269/20241217_005819.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_0-58-4_1389867269/20241217_005819.png
new file mode 100644
index 0000000000000000000000000000000000000000..8af36f23a65309b46e4b70f5c67e4a63f8643ab4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_0-58-4_1389867269/20241217_005819.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfa1376e21af43d231a39d8ec958bfe92593c7cd556857a80d59da776021abf6
+size 727609
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_0-58-4_1389867269/20241217_005821.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_0-58-4_1389867269/20241217_005821.png
new file mode 100644
index 0000000000000000000000000000000000000000..00bbec3fe822dbbc487a5f632dfd7f72bd0309ca
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_0-58-4_1389867269/20241217_005821.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e954c54e94262b2bfb1ce6a6f4856ff4db139725cdb08a8f62d83cad4326e7b
+size 733781
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_0-58-4_1389867269/20241217_005823.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_0-58-4_1389867269/20241217_005823.png
new file mode 100644
index 0000000000000000000000000000000000000000..0f02fd05c20ff89c42f99845dc8921d49637a20a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_0-58-4_1389867269/20241217_005823.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:730535876efc9976422fac047ad0a33dc09ddf9990fab2050e3c3ac3d4a06b55
+size 742901
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_0-58-4_1389867269/20241217_005825.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_0-58-4_1389867269/20241217_005825.png
new file mode 100644
index 0000000000000000000000000000000000000000..3c1ccf7b65cfa775bc630a7134b1ee7a75ee6da6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_0-58-4_1389867269/20241217_005825.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f5d0907a0b49d7fbefd37b7af1260d869eb4d980ad331eea76953d31fa83d95
+size 736504
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_0-58-4_1389867269/20241217_005828.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_0-58-4_1389867269/20241217_005828.png
new file mode 100644
index 0000000000000000000000000000000000000000..02e235e22a5fd5e9b00c36b9eeac38e23f8996cc
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_0-58-4_1389867269/20241217_005828.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:857bb7e71a27fe00005770c9ddb36a9dca2a0bbdf8b8b3a9a503bd48cad3026d
+size 733504
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_0-58-4_1389867269/20241217_005830.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_0-58-4_1389867269/20241217_005830.png
new file mode 100644
index 0000000000000000000000000000000000000000..37597151cdb10273b3bf72bac450d6a87f2ddfa2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_0-58-4_1389867269/20241217_005830.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2273a9ee39be162587b19ce449a24671329587c47d4ba690aa86d396d29c413e
+size 739587
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_0-58-4_1389867269/20241217_005832.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_0-58-4_1389867269/20241217_005832.png
new file mode 100644
index 0000000000000000000000000000000000000000..efea1707f5ca6e8f8f05dd755f8b5132f6031198
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_0-58-4_1389867269/20241217_005832.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9251d26b0997693817315270a81f9c7884114aecdf0bb28db11878e1da32624
+size 737902
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_0-58-4_1389867269/20241217_005834.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_0-58-4_1389867269/20241217_005834.png
new file mode 100644
index 0000000000000000000000000000000000000000..e22965d4cb6b68b488ec9d6c5d54643ef25c150c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_0-58-4_1389867269/20241217_005834.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0de545c736a2a0ef6f9a35279eb256142a632637226af28344d8d017464a6273
+size 718156
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_0-58-4_1389867269/20241217_005836.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_0-58-4_1389867269/20241217_005836.png
new file mode 100644
index 0000000000000000000000000000000000000000..dbe8fb82f4127f5013ebfde76d68732f4f8ad7ff
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_0-58-4_1389867269/20241217_005836.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe1ed9a842a113d65f4371128badc78ddd85fdb391671a3bf4181593a15cd5e2
+size 716832
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_0-58-4_1389867269/20241217_005838.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_0-58-4_1389867269/20241217_005838.png
new file mode 100644
index 0000000000000000000000000000000000000000..dbce2fa5dc3599fad14059dee466f3cd572e1885
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_0-58-4_1389867269/20241217_005838.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3989a1f54c6a97fdef386fb401d31ecc67d48f43bb9856810b6eb9e779cca73c
+size 713911
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_14-34-42_1642548899/20241217_143450.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_14-34-42_1642548899/20241217_143450.png
new file mode 100644
index 0000000000000000000000000000000000000000..7e76542175f672f223fc85f08c4a9049a5ef14a2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_14-34-42_1642548899/20241217_143450.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7ecd5f6d8846f6f166cd9113ec3917dd69acc13dc66945f073bda1ffe811310
+size 740174
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_14-34-42_1642548899/20241217_143452.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_14-34-42_1642548899/20241217_143452.png
new file mode 100644
index 0000000000000000000000000000000000000000..28d1bbc9fe61eaed9c356747d339bc4697d56036
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_14-34-42_1642548899/20241217_143452.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0d26f42100b50111598e0ed17f495087260d7b941f55b1ea75e37321b801579
+size 737757
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_14-34-42_1642548899/20241217_143455.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_14-34-42_1642548899/20241217_143455.png
new file mode 100644
index 0000000000000000000000000000000000000000..5cf2dfbb8720821809338bbf44c0e9fa6ed508c7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_14-34-42_1642548899/20241217_143455.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd8d1aaca330161e255c48b58ec6dc7479e2b6f665758b2d761779c911cee3c7
+size 749751
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_14-34-42_1642548899/20241217_143457.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_14-34-42_1642548899/20241217_143457.png
new file mode 100644
index 0000000000000000000000000000000000000000..68b59f9d7a761f4985cfa04f86a9ff1c4e0cf9b9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_14-34-42_1642548899/20241217_143457.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79aed0d442a949c116b40097a92e14cabce4d9a8a5340cedcadb87403112256f
+size 746236
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_14-34-42_1642548899/20241217_143459.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_14-34-42_1642548899/20241217_143459.png
new file mode 100644
index 0000000000000000000000000000000000000000..257c7cb245c8aba18b750952168cd940bc098f9b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_14-34-42_1642548899/20241217_143459.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bdefcf1dff0b49090829b91c76bef4f3210e72e1d0a821756f46585d13549c80
+size 757203
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_14-34-42_1642548899/20241217_143501.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_14-34-42_1642548899/20241217_143501.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c3c28a5102961fe090b50237ba471eb86b25d94
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_14-34-42_1642548899/20241217_143501.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b94fd2699744d0bda23e9f06e62191f00f4f0d437a699e70bd5bb9e3a8af44df
+size 764274
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_14-34-42_1642548899/20241217_143503.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_14-34-42_1642548899/20241217_143503.png
new file mode 100644
index 0000000000000000000000000000000000000000..9c7ee164fc9533e991098185fffd7365e69519f4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_14-34-42_1642548899/20241217_143503.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2c0f89ed725838cf11a67a14705888769b58adb81df212fa913eeadd47bf694
+size 768300
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_14-34-42_1642548899/20241217_143505.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_14-34-42_1642548899/20241217_143505.png
new file mode 100644
index 0000000000000000000000000000000000000000..cf1d4cb43e1406aec8456b5ffba68148d9ddb1a7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_14-34-42_1642548899/20241217_143505.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc1afccbb08a106286f972c151f2e745a7b6ec1ad00677842d557648a6bbd5e0
+size 780827
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_14-34-42_1642548899/20241217_143507.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_14-34-42_1642548899/20241217_143507.png
new file mode 100644
index 0000000000000000000000000000000000000000..c1a9a3c4be61309bc872875331c565eba3bfa480
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_14-34-42_1642548899/20241217_143507.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14285539a867981410f9da65df3ecdc0823820e59a0b71cdf015691953175262
+size 817402
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_14-34-42_1642548899/20241217_143509.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_14-34-42_1642548899/20241217_143509.png
new file mode 100644
index 0000000000000000000000000000000000000000..0017784e326eb6eccd3a4f0c64dc52ea16f5ae0b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_14-34-42_1642548899/20241217_143509.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c9d02317727fa49cd03c0a4f2fe6c8ec96fad4bc25c22a71d1cf032f9122d1d
+size 822620
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_14-34-42_1642548899/20241217_143511.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_14-34-42_1642548899/20241217_143511.png
new file mode 100644
index 0000000000000000000000000000000000000000..d593d08ad8159b38ef8bd66e041dbd105376dc86
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_14-34-42_1642548899/20241217_143511.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc950dbf580a70fc47901619353b8ff8db37c5456397dd9b6f822681f6d18d51
+size 834626
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_14-34-42_1642548899/20241217_143513.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_14-34-42_1642548899/20241217_143513.png
new file mode 100644
index 0000000000000000000000000000000000000000..241555edcb58c62f52d65d4caf4f4db752f9903d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_14-34-42_1642548899/20241217_143513.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51e13d2b0003f236daa87ccceb98a4832bdf797f8182346e325683de1486591f
+size 839246
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_14-34-42_1642548899/20241217_143515.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_14-34-42_1642548899/20241217_143515.png
new file mode 100644
index 0000000000000000000000000000000000000000..07c8ec0ea1c36a056cd4739b9c5f4c6445414186
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_14-34-42_1642548899/20241217_143515.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f7f73832599ad8576b17bc0a790cd834ed5d23fc0d95c8e95a98b8adcd90990
+size 855040
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_14-34-42_1642548899/20241217_143517.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_14-34-42_1642548899/20241217_143517.png
new file mode 100644
index 0000000000000000000000000000000000000000..19dc203a85cc4a1b645f09dd20cb58d7b5755710
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_14-34-42_1642548899/20241217_143517.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97a79ea27376c28342c016e63a360c3d4b6fcf439c988dd521801b76c9f51d68
+size 858607
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_14-34-42_1642548899/20241217_143519.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_14-34-42_1642548899/20241217_143519.png
new file mode 100644
index 0000000000000000000000000000000000000000..326fa35ff8d49d04a1004c5fc0c8446231e92fbf
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_14-34-42_1642548899/20241217_143519.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a1354e4445f5815be3c068e0e90349991751ff1cbed6403a2646bfbe7f5762c
+size 856239
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023831.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023831.png
new file mode 100644
index 0000000000000000000000000000000000000000..4483a23d9f93ccda321fc3304c6eedbf1c57ccbd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023831.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07d446ba4226da4f8358895a6b997e98af02611279d883c31c7727fbf8505386
+size 761970
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023834.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023834.png
new file mode 100644
index 0000000000000000000000000000000000000000..cccbc0cd14448d5b9480c7a743cb9641561d0193
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023834.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6320397024391c175e18790150a2ceb69ff8cf1fdc4e703aecdfa72d6bd8e909
+size 758170
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023836.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023836.png
new file mode 100644
index 0000000000000000000000000000000000000000..04db17e03325182b0127e8daa3cb90e409e25cfd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023836.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8244c9c093c503baad78b32f326d88247a0c6fa0b19049baf5087333642fc1f6
+size 755386
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023839.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023839.png
new file mode 100644
index 0000000000000000000000000000000000000000..04e57814915068b6e00f161c669a6106df2aa5cd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023839.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ff6c32d768192f752ae5a9e6ba088a920f68eaf3b4912faaa208c3cd4f95a99
+size 746073
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023841.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023841.png
new file mode 100644
index 0000000000000000000000000000000000000000..35c8660d90771808807e185023a888ba73ab620d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023841.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1068e1d48c369177f956c740a28d4b63fb8e47b36953b967cfdb415bcd79dcc5
+size 741218
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023843.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023843.png
new file mode 100644
index 0000000000000000000000000000000000000000..a6c64eba11f44729857bb35f27794791631839f4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023843.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36c8f973c1a7b6f0c1a9ebc2dd709293d481eeb5d5372273fb3b0346891b5445
+size 738184
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023845.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023845.png
new file mode 100644
index 0000000000000000000000000000000000000000..e76be9d5c09bf0455e10f9621c14add7d0b46e51
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023845.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26815acdc25c8a3f1c9765ccf2ed65c4a60556571ca82987376b1198481d052d
+size 743580
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023848.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023848.png
new file mode 100644
index 0000000000000000000000000000000000000000..818d29671b75170fb7f8fb5d3c08b696e658b5ef
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023848.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d3336e15e3ba2b0e56b0691022b28cfe6162608ed0b835b5bf99ffb2e9debc5
+size 739629
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023850.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023850.png
new file mode 100644
index 0000000000000000000000000000000000000000..2ade6abef5a8424eb9985c9912bd03a3654176c4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023850.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2941513119a2ee0e794777a0ce8b9c6e9cadd7f6dd26dabbe54c302afb61b68
+size 733582
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023852.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023852.png
new file mode 100644
index 0000000000000000000000000000000000000000..5d6fc02a7a689c568078fa4dab7bac591e71426b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023852.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71c7f6b43fa0aa877b32cb71fc55bcef5b34e1db32293fb45375c2baa9876d54
+size 733902
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023854.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023854.png
new file mode 100644
index 0000000000000000000000000000000000000000..a61156c74b210dfcef72b683249f87df4e955898
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023854.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41870af7209d48a539b02c402c58327c2d17982a051a26b533cb8b646952e7bc
+size 733982
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023857.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023857.png
new file mode 100644
index 0000000000000000000000000000000000000000..c621ba49e1b4cca0a5fc115a2d6d4b952f322e68
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023857.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a6c25e1bb3b39ca776e67112f5d5bca9e8a8489fccc20a4d76b31c1bb3d0f41
+size 727637
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023859.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023859.png
new file mode 100644
index 0000000000000000000000000000000000000000..4c29194b3983383f246ff5dab6e77d06cc63fd09
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023859.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c8acd2996353358edade332bae13dbddd1077394b4f9616a2fc8f9ae401821f
+size 721843
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023901.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023901.png
new file mode 100644
index 0000000000000000000000000000000000000000..d9ba17f02d3cb04c5af779b5e61e5f86b95e8801
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023901.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c35d201e6e95d66aa4b7f812912059215fa8fa7477a6b6de47b6b86683467a0
+size 718734
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023904.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023904.png
new file mode 100644
index 0000000000000000000000000000000000000000..814ddc9db08882843c7f1b53ffe4c3741e059944
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023904.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:583cdae4be6405271e7397c565dd22f9db01c766576f3081d49fe5e854477838
+size 720116
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023906.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023906.png
new file mode 100644
index 0000000000000000000000000000000000000000..339ef2da9cacb038808b13ba94ceec41685e5377
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023906.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbce1c36d84439da27cbd8320ce778c2cb5c538c04966260e75a5390a83342e2
+size 695575
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023908.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023908.png
new file mode 100644
index 0000000000000000000000000000000000000000..a57e0b8e6123e293a5e09c5d9a3d789f482a7ee6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023908.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f9e53b93ee911b674be269f8cd07481e26f85f1676d5e5ce97c4d78e7f8b563
+size 696530
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023910.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023910.png
new file mode 100644
index 0000000000000000000000000000000000000000..2f66396791ee5086cf9562de529ae5a4c553abd2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023910.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbed1cf1b122f7d914932cfdf8b8750297ed21e33c54429866881af4408400fd
+size 690705
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023913.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023913.png
new file mode 100644
index 0000000000000000000000000000000000000000..7be093a594d97ef4109d9b6801f04666c2d22eb7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023913.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70819816a5a97f12c052e336c89ec25c0fe7ad3db94c70c2e6956d05917ffd75
+size 687385
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023915.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023915.png
new file mode 100644
index 0000000000000000000000000000000000000000..1f11a5f5b00c13b1c04e6a0a3d3e06e6ffc408c9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023915.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6a7f2829eed4c72992a4b45ff790885670040573d82aca7ff86267a73deaf42
+size 691892
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023917.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023917.png
new file mode 100644
index 0000000000000000000000000000000000000000..b4d554333e81bec36676fab1602fad3f0befd3c3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023917.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cd65a276c9a090eef25a853b3ee3aa3118669a0b079d70603c3ecd81523332c
+size 698377
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023920.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023920.png
new file mode 100644
index 0000000000000000000000000000000000000000..4fad9c541af654a4294732997fa9137b62f6644f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023920.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e10b27c17f0cccefdc499afe4cb5c6f16a75972ff8619cc0227c36894a40b4c
+size 701980
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023922.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023922.png
new file mode 100644
index 0000000000000000000000000000000000000000..2bd1886b4c21ba5ba0fc3a0d6c23e9920d00de17
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023922.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f67363e05dd4b3fd1fe27fa01e8f8a623770ce70fac5e88b6fe18a18045dcaf
+size 713664
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023924.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023924.png
new file mode 100644
index 0000000000000000000000000000000000000000..4360d5d5bac970598ac8dba1615dea096f79cb92
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023924.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9e322d5ee740878dec05d67bd4c6d1ff5c7af6cd4611a47f60718295f49f057
+size 735444
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023926.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023926.png
new file mode 100644
index 0000000000000000000000000000000000000000..4f741274df4e29811702874bfcfa16d63eb4b772
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023926.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb72a00c81201e7cd4a0a196369448632470c27f010f5c3bcb1b4132c779b277
+size 756738
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023929.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023929.png
new file mode 100644
index 0000000000000000000000000000000000000000..abb9c238febd69bec578dc50f9997637f93c8f6c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023929.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce3b9e0e272f3c53305ec6eb94ab831d57f2da15f54830e360e2134969f79a2b
+size 765054
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023931.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023931.png
new file mode 100644
index 0000000000000000000000000000000000000000..07a36f78c5d0e9a7c21bafaeff80a419c17c561f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023931.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e33ce1fdb7f81e536be3c9757933f9465b681bfb131cd0ea73fa45d1fd54ce6c
+size 779802
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023933.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023933.png
new file mode 100644
index 0000000000000000000000000000000000000000..aa8403f8c9046dd387e0e409688e4bee7f0848ee
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023933.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b7c26ae4d47a1fea459a5ad173f5ef6d0a6caa369f9396c0dbdc020ae9e3bb8
+size 779192
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023936.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023936.png
new file mode 100644
index 0000000000000000000000000000000000000000..1d1e5993a59c245f7ef45142363c346dce07472d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023936.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:414f5a9f868fb3b1961f691c5df4ded1033c71d7532019f3f2853b9eb42c5045
+size 761161
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023938.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023938.png
new file mode 100644
index 0000000000000000000000000000000000000000..342a84356cbf3eb6d72e4841089b91cce38246e9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023938.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d443c8f750d4342b6c29ba364ee131976efd9873809cc718dfba1164d462c87
+size 767725
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023940.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023940.png
new file mode 100644
index 0000000000000000000000000000000000000000..dc9058ab2c67875a2ce3b5789678a04969413454
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023940.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad301ff070cd341cf510088045ea4f1214fc1fd13ca6ca476c7ad801c1c43912
+size 813234
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023942.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023942.png
new file mode 100644
index 0000000000000000000000000000000000000000..de442e141674c0e841b014f8cc1b20e6836517a2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023942.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31f46e124f73caa69f055f26a32177220a4a0fc3972aa195f31ba1ebfe1fa18f
+size 787253
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023944.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023944.png
new file mode 100644
index 0000000000000000000000000000000000000000..03bc8aa6a997fe1c2ef04e841e2820ea78161795
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023944.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f46c972d40ea62132b6e9eaf2a6acc63ba3cfbb73a607a2a727111205d19d69a
+size 795161
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023946.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023946.png
new file mode 100644
index 0000000000000000000000000000000000000000..f6206269c6838f36104b1b3952027c2c7fefdea6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023946.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5081769a6a2c160d25b1c97b3d1b2e1bae8fa3321f9d71b6b5bf5c1f1e3d1ed
+size 798913
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023948.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023948.png
new file mode 100644
index 0000000000000000000000000000000000000000..fc22cba33a6b5cfe9174752a8b8ccf585d6c9004
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023948.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c78019819072d963cf23b5d61251bef42a993a476f61c21a55181fa29745ee4
+size 804327
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023950.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023950.png
new file mode 100644
index 0000000000000000000000000000000000000000..3eecbe40f7e78fb9400f59b2eb90e2e6ef91ec6b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023950.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8da0ad7630a36e5fd6b612a6a919636b13a2a6bc69c6e44de426204d24ca0e5c
+size 807580
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023953.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023953.png
new file mode 100644
index 0000000000000000000000000000000000000000..f6a472939a07a1f7f5da8539324acec4085fecc8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023953.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d59d8587efcccceca236c9d1f2da8aaef6bd087336871bb5e8bdbbf4c4d2a18a
+size 813153
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023955.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023955.png
new file mode 100644
index 0000000000000000000000000000000000000000..5cb66d38df38b5fd36051d62cd5f1f6698ac0815
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023955.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03996f63da39d6a03cae9ac5152ddda79ef7678a9d6294d15402be25a2938294
+size 818556
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023957.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023957.png
new file mode 100644
index 0000000000000000000000000000000000000000..809d6ffd913a32b5c83af3e29579b166f6d9e626
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023957.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0858b0fcd79f34d8060a84f6634d0a886e5c4372402887187f5885dfa46d8ec
+size 759654
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023959.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023959.png
new file mode 100644
index 0000000000000000000000000000000000000000..a062e356ea19a888286dbbc1f4b6dd2f6baa731f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_023959.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:650e65755271de1eab12a1b978957a3dd4f45484cb2eb5e65f6a3d689d29225f
+size 748594
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_024002.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_024002.png
new file mode 100644
index 0000000000000000000000000000000000000000..5a799b9e25d58892d7e995ea5794ae6d3cf3977a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_024002.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01d4f6e7b88516dc33e20feba639bf55f502128aeca17d86dfdd6865ef790953
+size 744018
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_024004.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_024004.png
new file mode 100644
index 0000000000000000000000000000000000000000..a14a1374f986adc364f98cc8f787d6eb3037382b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_024004.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b72cf8d720c2477ff834b100264f6e5ad026fe8ef8a00eecd0405474a6e4816b
+size 726833
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_024007.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_024007.png
new file mode 100644
index 0000000000000000000000000000000000000000..907fc544a14220da585557551cb7aae3453da00f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_024007.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c14d2dcce1088cebbe49cd220b5b146667b92b953fa7dec91688469d674e6ef
+size 726108
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_024009.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_024009.png
new file mode 100644
index 0000000000000000000000000000000000000000..ce5c651f912c4c48b2e58e1998c48fda98bb6b0b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-17_2-38-23_246247255/20241217_024009.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a07bc37b686376ebe30892ddff288409c675e98d8b1b543fda5054165f24d72
+size 724981
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192824.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192824.png
new file mode 100644
index 0000000000000000000000000000000000000000..94fd8fdf7f32d23157927cfaccab09e0c348b507
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192824.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:877a7dbd2bf1adbf3a26461085394d303654425611c0ab9f92b3c51133fc1699
+size 883830
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192826.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192826.png
new file mode 100644
index 0000000000000000000000000000000000000000..b60adff118ce7fd92959fccee44f81b6165eb726
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192826.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:552f79076e06fcfd50587686a6aa325317265a9efb90294b2180c6c4e3ac9fc7
+size 890543
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192828.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192828.png
new file mode 100644
index 0000000000000000000000000000000000000000..babf6372c8b5f231964fd08f81bff30dd30b9e6a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192828.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f3ea6e2fc8035ee15337ff48d9ab29f86f2f9f66c5f1ffa46f6d2498cce00f0
+size 835194
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192830.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192830.png
new file mode 100644
index 0000000000000000000000000000000000000000..935e6423cb9642b6b65e7abe400a1c2a58fd99a3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192830.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a20510d6e8670ed938daa54efb7c1635d65c9ae7261b55b23e87d89b0780f413
+size 754226
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192832.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192832.png
new file mode 100644
index 0000000000000000000000000000000000000000..d85c299062fefd5746fd0fb37e4a4d7d3f2f3553
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192832.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f11bd93cd7942cca0d54ad6c61c96996c8d9d22052a0bd7da5e59504ba49c917
+size 755952
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192834.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192834.png
new file mode 100644
index 0000000000000000000000000000000000000000..279716153a4f5e21522cf57261e2726dd1611ff8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192834.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f61449333ebd2595045b721da7904d023d7130179719fc05b42e5d9c9a9aa08
+size 749069
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192836.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192836.png
new file mode 100644
index 0000000000000000000000000000000000000000..30f1b2734e066c7375dc24b5fd1e73cb0cda56ac
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192836.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ddd67dca4efbd36fc4e88b681eb6d20a9e245902b533d3a0b494fc77e29d9a6
+size 734946
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192838.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192838.png
new file mode 100644
index 0000000000000000000000000000000000000000..18b8a7bec4bccd86d7c15640c0826e67f472f09f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192838.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80335c8713c196eba8c01dc8aeac20b6ad43a51fe3c174b7ea5dc897aa00f556
+size 714148
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192840.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192840.png
new file mode 100644
index 0000000000000000000000000000000000000000..715ebabb8209ab08d53c6960c7b8b7582474ad00
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192840.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17ebcab3fd87df93b17b2a2f4d1d63041a0031f2c971007ba25893eae0eb8cc9
+size 703056
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192842.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192842.png
new file mode 100644
index 0000000000000000000000000000000000000000..8fafd324763bb13e60b823727de2697f7813d2c3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192842.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3cec5d54b009c11fc134c26e692f178cd1b69da8d03b2248e455c4765a249cbd
+size 710264
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192844.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192844.png
new file mode 100644
index 0000000000000000000000000000000000000000..109d57ad85c08a1f5550dbbdb066e276ebae1ab1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192844.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcf9914cc660fc33e00c0a51002141fe22c3c0cb5dba852e5fcc82f0cc6e380a
+size 716523
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192846.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192846.png
new file mode 100644
index 0000000000000000000000000000000000000000..4a95d24d6eec8278b38e08df5d490557d2227b6e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192846.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80f991a1b7d6526dc73706fbeff3f194c7fdc9dd4369c8b77286b92bfb74827f
+size 720359
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192848.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192848.png
new file mode 100644
index 0000000000000000000000000000000000000000..42e22f5fc7d6e4e2b1f71cc2963bf9ec2f271ef1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192848.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8698ab3d3054c3de2946a7a8a93b70f71425d619f1f25eb7285e65da94564eb8
+size 721796
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192850.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192850.png
new file mode 100644
index 0000000000000000000000000000000000000000..093b91e107191baf3bf4381b4c3eeaeb8266c000
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192850.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03429cc2390e2a2a77f06c28649b799b7f46cb4d80bf4c24a4b29ac2e3a827e0
+size 729730
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192852.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192852.png
new file mode 100644
index 0000000000000000000000000000000000000000..2bf410b42a3fffca22f34aa22a006e5c747797d6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192852.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa303fe92476acc53f4c8a47218b28a7ade40adc6e783c022360324a80721318
+size 681014
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192853.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192853.png
new file mode 100644
index 0000000000000000000000000000000000000000..58fc75cb821f4a91b8ddfb18202a0582256c2745
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192853.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:951d6a7a0ea4dd249358a2cd9c0afeead35bc674d3356cb7e6a5aa8a3173192b
+size 679880
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192855.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192855.png
new file mode 100644
index 0000000000000000000000000000000000000000..749bf97d0460904cc02c91051eaac029a92a49fe
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192855.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5ccc5e4cffd1c49b89fdc58a258b61d37cb0014db051308158e90cbbfc44d96
+size 739175
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192857.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192857.png
new file mode 100644
index 0000000000000000000000000000000000000000..26bf4f865434ec51fb33cb79a7ec573758798f59
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192857.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57bc6fba1a7e8d3a55ed121fb20bd2acddb74c92f51b7aac98ac13a5e90ab943
+size 739967
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192859.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192859.png
new file mode 100644
index 0000000000000000000000000000000000000000..a517224db505d7bc71e512baa449e20b1a32847d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192859.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37f46041f0d9216734e5014a0073beeb6e81d6f8660689427e0d5bc02de08cea
+size 733275
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192901.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192901.png
new file mode 100644
index 0000000000000000000000000000000000000000..443135ccb0cc4ad6d4310107f9e4056fedc21b1a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192901.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8aa9a17a3b3357c2c69541b60f10e7d700f5a912a86300146b61de2c4044d4c6
+size 739434
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192903.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192903.png
new file mode 100644
index 0000000000000000000000000000000000000000..e1b407ff067b0ca9eab52ccf98a6a80ed592ce0e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192903.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08396731f6aa6c005ee40762470f8d7acc85aadd6dbf965f80adce91ceee3c0e
+size 745774
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192905.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192905.png
new file mode 100644
index 0000000000000000000000000000000000000000..76df34cd9932824e0a05c10cf4b85dddbf5c06d6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192905.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef0718625fddfdc381c3d620c6587a328c0cfdad8f222d9e5303bf3ebeec71cb
+size 780543
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192907.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192907.png
new file mode 100644
index 0000000000000000000000000000000000000000..b64aa631eea84d9a6e887558e22cb8269ba96237
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192907.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:699eccc2597a6c6eaaa90a74c372f424b4d1c81440d5b506c31ecf905aa1cb93
+size 793727
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192909.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192909.png
new file mode 100644
index 0000000000000000000000000000000000000000..c7c6598cb86676516e8f385c476df7791eb751f7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192909.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7bdf727d0011b9b68675b51ebeb75c983b5111eef020fc2fbbbe2b9bd1d7f19
+size 841786
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192911.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192911.png
new file mode 100644
index 0000000000000000000000000000000000000000..e159e6fb1119c5268d0d0bbe123d3ba19df50d45
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192911.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:299771d7f7f100bc0dedc7e12f0c4a30d5a4a165f6ed0e5d982a4e54ce7e8f52
+size 834243
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192913.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192913.png
new file mode 100644
index 0000000000000000000000000000000000000000..1e88588dbbad5a12ad3859d7513690ad750119dd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192913.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa0da61d8fb7227a929b7e9982ea16860af1a379af058a1842762bab3b066c6c
+size 833621
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192915.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192915.png
new file mode 100644
index 0000000000000000000000000000000000000000..015fdafba155eff0760f6cc454bf70ad3a19a2da
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192915.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a198fd054a93c21879915e2b685ac003aaf83914d46e0b1d393e0580e2817ca
+size 833976
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192917.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192917.png
new file mode 100644
index 0000000000000000000000000000000000000000..c96222faac42236be5966c874916da9e9a41b4c6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192917.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2310459e627ce3a786232fa50fde498c2b97155735ff4c7a24474e09b5ef62bc
+size 851857
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192919.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192919.png
new file mode 100644
index 0000000000000000000000000000000000000000..8a49d4d88f19baf4dded44816a13d59b8c4d20c3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192919.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b94ad22ebdcae140f16044d6acd6b7c0764066e3a32614f4969082e8c8619de7
+size 830641
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192921.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192921.png
new file mode 100644
index 0000000000000000000000000000000000000000..5a939f5d70b7fe9c1caef6a73aabf4101e8e2bae
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192921.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b5c43a84a33155832c6f6a798d79fc9b5481a8a2c203f9063bdd0594e0bbb7b
+size 821644
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192923.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192923.png
new file mode 100644
index 0000000000000000000000000000000000000000..fd2d1d6b29ec8ebe048ced06862a86fb659a5b9e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192923.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:311e5125ed5fa010c2b4865b90d7b03f3329b37c6978ba5a10fa91e2b9e656e5
+size 857670
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192925.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192925.png
new file mode 100644
index 0000000000000000000000000000000000000000..595f22152f90154030d5ce8471ded5548a3a654c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192925.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6422e5686133329a63fbbac9dd2e42800e3b8ba5b732a67fb0426efd143405f5
+size 853079
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192927.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192927.png
new file mode 100644
index 0000000000000000000000000000000000000000..0f3b191657af24f5530733893941df5baa1d0c51
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192927.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46ae0010dfb656ed390ee73740781da2291e6cd6d72c78b4174921d0f975b4b4
+size 849276
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192929.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192929.png
new file mode 100644
index 0000000000000000000000000000000000000000..c574aa5a89bfd188c0b180e8eb931c8c94117b48
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192929.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e63eef3d8abdfb5e6a22fd2ad7ad40b8c3cf572a571ddddd6463049603d14113
+size 851967
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192931.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192931.png
new file mode 100644
index 0000000000000000000000000000000000000000..3202860c9f99ef035ed445e25748a97b227933ed
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192931.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9506748677f3c92f16e982f971cbf8375f82a04be0b6a7cf13a5e4fddf95746
+size 850475
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192933.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192933.png
new file mode 100644
index 0000000000000000000000000000000000000000..d11bd77511202286d5a1846f073826c4d00a1360
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192933.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aeeb4ca5806d17cce40a6dc9372b7b0609bc653fee19438ff368b5882d58c8df
+size 850638
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192937.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192937.png
new file mode 100644
index 0000000000000000000000000000000000000000..2269e028d4c80d167febddcb40adda893edae9bd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192937.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac7578c47e4fdc59340cdb722670ed834d5f533091739d3fedc88a5724852301
+size 860310
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192939.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192939.png
new file mode 100644
index 0000000000000000000000000000000000000000..f5db06ab09a9fa5dd013d70595d81be56ffb995c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192939.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f3652f78ac76e859079af0dc60e20ffc63cc46a3bcff6042d4932d4034dd370
+size 886603
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192946.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192946.png
new file mode 100644
index 0000000000000000000000000000000000000000..32b7e27e6cfaa8ef555df30ef8dbca35233d3c1b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192946.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bdbe65ff0b99f7209bcaa05921e18348436666fd041bf587fddf6bf94710ce9
+size 883083
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192948.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192948.png
new file mode 100644
index 0000000000000000000000000000000000000000..dcdea6b08cf7cc469f93fddaa4d933f25a6e5865
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192948.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:788f157bd61ebb1a99c0c16e9ca4c3f6bf4f611d5b4504f4f00fb1e28c64727b
+size 875388
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192950.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192950.png
new file mode 100644
index 0000000000000000000000000000000000000000..24bbe62ab2081bc97ace94b278a2e9007d41c94a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192950.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e3488c82beea4292c22665e3d1792acd2ead372edf8fd8523f0b93902cce25f
+size 868981
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192952.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192952.png
new file mode 100644
index 0000000000000000000000000000000000000000..737c9722b7a13fabe33d8bbdaafd6660bcba5ed8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192952.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d919fa40128f158d81d0fbf8aa8208798e6b94acd359e590199b7e0cbc5c027b
+size 879474
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192954.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192954.png
new file mode 100644
index 0000000000000000000000000000000000000000..de129650c458fcd37a2d1ee3ba91cd93210505af
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192954.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1268fe99410927ca1bf0b60d2ca8dcee1778714027d349c8d2223c29bf351b84
+size 865864
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192956.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192956.png
new file mode 100644
index 0000000000000000000000000000000000000000..9c44f2fc461b937f2d5dea60283da7207d5d40e2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192956.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8df61ffdfbb86942d75a9a8f1f725f074da2df49e5f97cc18999c61aebf103d1
+size 855307
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192958.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192958.png
new file mode 100644
index 0000000000000000000000000000000000000000..6b71eee92cfc4453a52f8dcc1c030f80cce6b951
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_192958.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f868512541166ae725059affe1bb6f332880fc200afefb57c035a5eed32a8f5
+size 851729
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193002.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193002.png
new file mode 100644
index 0000000000000000000000000000000000000000..d85e73712f7542086bfe52a8456a49b84be97dcf
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193002.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c651b3d00fbb5e2a0019e2e2640c00e6e5e4adcf2c915d3f37ad76e68c22124
+size 845866
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193004.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193004.png
new file mode 100644
index 0000000000000000000000000000000000000000..b9bfbccd129ca25d662715bcbb280225c5985a49
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193004.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2263999de5b36db586f386a82adea92bdc0212524f780689ee33b1bee27a63c5
+size 854462
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193008.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193008.png
new file mode 100644
index 0000000000000000000000000000000000000000..2d0d242b9a5b458c360fa45d9406128573127216
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193008.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:343905d0907bcdb8712b196609707da797eb90571ffe56d0eddc0a5a233d90ff
+size 841550
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193010.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193010.png
new file mode 100644
index 0000000000000000000000000000000000000000..6baa791bb5bea0782155d100cdc0f2c7839dab0a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193010.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:328e68ced15f195b457d470762162f0404edc9e253b50d4623e98fac7c6467aa
+size 837442
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193012.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193012.png
new file mode 100644
index 0000000000000000000000000000000000000000..1d8f64b171b1eee2adcfdf63c2b0f9abdbe98058
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193012.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ece96f88d3181134b238ac356010ca905eb7317ca2747cf1ffdf7aebc7c6fb96
+size 835677
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193016.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193016.png
new file mode 100644
index 0000000000000000000000000000000000000000..702961f38b5c0b31b0877eb737d18b8e9ad0a26b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193016.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5a74dfb2cc86c5fc01430aa27d6621e3090c30b51755de943a6dbbe312c435d
+size 832179
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193018.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193018.png
new file mode 100644
index 0000000000000000000000000000000000000000..ebb91f8bab2bd378fa919405d99cdb5ebdcdceb4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193018.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4ca51605f16eed9e2e77d63e6698f91be10bb98bdcc9185fd8fa61b518d13a9
+size 834135
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193020.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193020.png
new file mode 100644
index 0000000000000000000000000000000000000000..4a625ae6f5070dfa116555bb4c8d32bc5211d6ab
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193020.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e13bf52a8a123699f40f27183dde0691dff6d91b455f320bb4db6e046d25d09
+size 847307
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193022.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193022.png
new file mode 100644
index 0000000000000000000000000000000000000000..0192c1bf3e95a851c26adb74ee9953da99c8460a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193022.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d7fcafab3ec30d39868b8e495dd95d282aa7e158918fd5cf2340412ac4259e4
+size 831646
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193027.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193027.png
new file mode 100644
index 0000000000000000000000000000000000000000..f4a74b4de3bad4442db93cc647220c87ae53c48a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193027.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c9c9d6e4478341d5384af86327405797252bff41ef00d81c9daa3d4eae27ec4
+size 754183
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193029.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193029.png
new file mode 100644
index 0000000000000000000000000000000000000000..fa66601c07f98e0500cfc7f3c594296cbe8e4a71
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193029.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e4bbabc0a0e285536da351bf7a73a1f79b59f9fd6bdd8ed248ea0cd31fbd188
+size 751247
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193031.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193031.png
new file mode 100644
index 0000000000000000000000000000000000000000..1446025fdbd77cf707d8d64c02635e1986c1813d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193031.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2cda13c39ca9b8c8e7e725832b4151221644de9d02cc91abb991e4143573f32
+size 759955
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193033.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193033.png
new file mode 100644
index 0000000000000000000000000000000000000000..07641c87257146b0c40f4532fb644c7d84f63138
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193033.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9268c9bd80dd809bbc796bce3c23d5c6d838d03a27c358958ac6be8f8af4dc1c
+size 767072
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193035.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193035.png
new file mode 100644
index 0000000000000000000000000000000000000000..4e8e330ceacedb3fd97094403175c6538c25bad5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193035.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:043809266e63424a4de76ea035cd9984f305278dc45a7a4c3909652d27550a76
+size 724627
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193036.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193036.png
new file mode 100644
index 0000000000000000000000000000000000000000..45f04c3b42f50135a373efbb495a8de15f4040c8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193036.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:001e6a9abfd716a6ee0a0d879d0c32481165ac2b270b60c8bb763ae67635a047
+size 728474
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193038.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193038.png
new file mode 100644
index 0000000000000000000000000000000000000000..9ace310d435e6405dfe1cb5a494c366e1431bf88
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193038.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d52329904b124a587f7129aea2740711ff63484e5a7642f78d28b0eadb57dae7
+size 730321
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193040.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193040.png
new file mode 100644
index 0000000000000000000000000000000000000000..7d363b84e91da07d18a51ab10457676afbb60b57
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193040.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbd59dd5b11a7773306fd95ff6ba44848a87cade46dba07a39a6600023da822e
+size 738520
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193042.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193042.png
new file mode 100644
index 0000000000000000000000000000000000000000..9e811cf46bd2b156c51bddb2256b670a3c070f20
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193042.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:924eaafb3595f7177fdbb75f4f41569cb7cbebfc256fcfd3ecf5b61c634fb7ba
+size 698044
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193044.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193044.png
new file mode 100644
index 0000000000000000000000000000000000000000..6ead79ec79ec70fd43e93bfe00801aa377f76bcf
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193044.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2053e3116dab2c00c10529dac63763cb87c982e65669b59d45131f25d160e150
+size 691136
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193046.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193046.png
new file mode 100644
index 0000000000000000000000000000000000000000..59c5f3b43dc03e4e07d6ad3a279731722d5b5c32
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193046.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05eb712d777ebe4a651a066246100d64fb85bef9301dd238438ea84c55f24aea
+size 764381
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193048.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193048.png
new file mode 100644
index 0000000000000000000000000000000000000000..ef8fec3f167a5308f766538f25ec66a9eabc8e0a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193048.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb9afb7cc2381bd864f8a43488c97175c9502f1f25f8a42f7717c671f643225a
+size 756144
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193050.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193050.png
new file mode 100644
index 0000000000000000000000000000000000000000..971422f29cd1c90725d70556d76db5e56da09ee3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193050.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4372ccf6e2b0559472f3b269692f94036d0c13b1250bb17f443b4886f9405fa3
+size 748389
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193052.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193052.png
new file mode 100644
index 0000000000000000000000000000000000000000..674667c820ca8b06f18924b28c94ea19a37ee9c8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193052.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3aad34245d5d64b09000aff00d0601a1fa17d5f6da161c8e98efbc09e9ece39
+size 769902
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193054.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193054.png
new file mode 100644
index 0000000000000000000000000000000000000000..536ee2f3c4b594402d93c50cf46da812cca250be
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-19_19-28-18_733053144/20241219_193054.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35b740f060c276ab0c325d56031962316275902a9e26306f8bb6dc03b2913926
+size 767505
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015800.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015800.png
new file mode 100644
index 0000000000000000000000000000000000000000..40b103621a18c81c210cf248b9a75cb6bb68c17d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015800.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95bbba058e693e691b2b34fa9cb7946e88c067950efacdc3d652dae92424fca0
+size 843512
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015802.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015802.png
new file mode 100644
index 0000000000000000000000000000000000000000..02102fe257909a9f6cfb388e2d9a5293e173da80
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015802.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00b6798ba50a1ddbde4c9965d5579d686f196513d35e6b5d1fa7cefae0d7f8df
+size 841374
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015804.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015804.png
new file mode 100644
index 0000000000000000000000000000000000000000..57f52386b4ab698964c629740a3070a32040f449
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015804.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aeb1708782b1744bc9ffd33b3f2eaa08d11ecf76693c99e62417924290efa31c
+size 835531
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015806.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015806.png
new file mode 100644
index 0000000000000000000000000000000000000000..ccef920571457e52332f199e5bbdeb3c302fafb2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015806.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cac12add02d84fb4d09c70a23367b9b3fd1fb4b27865bb0f21ba161077e7810f
+size 831355
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015808.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015808.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c50f64441103213d3570d9b571f5d57362a9606
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015808.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df0948d27025e933bba86c486a50ab89a1acbddb73221ebe4b5b444241aa5333
+size 833393
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015810.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015810.png
new file mode 100644
index 0000000000000000000000000000000000000000..005304affdca9f854f533dfc6752d7a6fd2989fa
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015810.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c599b28b812883dc2ddc70442b85f68f33bdfdc8974871092ae0c07550688d4a
+size 821718
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015812.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015812.png
new file mode 100644
index 0000000000000000000000000000000000000000..a692efcda477c6f8867567ec16de11e2d0baf7ef
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015812.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59d47eb91215aab51f1dcd84903339f2697213dffd22ba8c0d473e0919fd7379
+size 821933
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015814.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015814.png
new file mode 100644
index 0000000000000000000000000000000000000000..1cdb1ee0e3a75f2582164abfd4cd3799acfca09c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015814.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a870012d94b1bcec3d092ea910f280654a8a3199b15778465b74ea6decbf50ce
+size 821430
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015816.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015816.png
new file mode 100644
index 0000000000000000000000000000000000000000..b40d0469bc60a32841278df730f7a1e9916b1834
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015816.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15967950567e6bdb923c9802703e2adc8be3d01912ec3ae1986ff18272405939
+size 823977
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015818.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015818.png
new file mode 100644
index 0000000000000000000000000000000000000000..86b54b4df8bde5954765c396ed7dbf4445cde0aa
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015818.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edde2c1a3334b3ef8da6dbb47d00c0e02964fb45a27518620d578cbae0f2318b
+size 837739
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015820.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015820.png
new file mode 100644
index 0000000000000000000000000000000000000000..82bf6734bb60f7bacba24f80369f3f69af8c621d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015820.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49306e725f54252eef147b10ba098570a8d0887b6c9aebf9127a9aa0334e01a5
+size 835583
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015822.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015822.png
new file mode 100644
index 0000000000000000000000000000000000000000..0682c7fe96853f5dc99bc5b6c70e32d1cb6ba723
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015822.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8251717692eed447581b59343583297248e963c507fe5e1931cbc63ad18bad63
+size 822019
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015824.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015824.png
new file mode 100644
index 0000000000000000000000000000000000000000..41f1bcf675b894e73ba498fa6064125c811ba7ef
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015824.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b02a0b2877e8c95f56827f31bca812438d3d7015432f642c3ac03d4d0dfcba5
+size 820836
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015826.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015826.png
new file mode 100644
index 0000000000000000000000000000000000000000..ce5b306096c3a4523cc1debb644ab5f072bc729d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015826.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d811a6bd425ffbf6f1eee620720cd8f78376f2371b0a07d58bc5d3db71942cf
+size 815734
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015828.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015828.png
new file mode 100644
index 0000000000000000000000000000000000000000..c9dc0d4eead2dc2e74f3f78a395f7a09e459c94e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015828.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84d7c3f2d6fb06462a847eebe121a8313b23e9319a8fe4fe3d06370f1e0a1783
+size 810680
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015830.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015830.png
new file mode 100644
index 0000000000000000000000000000000000000000..c59d37c41ca39303166332ac07390b967bace2ef
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015830.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8cfef4578f0bad3acbbfcebcef3256382e0b65acabf85136bae28ae7653c69f
+size 807719
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015832.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015832.png
new file mode 100644
index 0000000000000000000000000000000000000000..8af139f4d08b4f6077500285f662f67da2feff2a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015832.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:271acef6b839617c0fa7af15d1765bce5b183d622b7920d0c901495fec8ea91b
+size 800532
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015834.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015834.png
new file mode 100644
index 0000000000000000000000000000000000000000..501c1b9675b50aa77ab25d8ec2fb23d23a672a9b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015834.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93d998dba88f47108750765869b200e82e2d2572fbccdf297aa78b15b3c431e3
+size 794699
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015836.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015836.png
new file mode 100644
index 0000000000000000000000000000000000000000..09b4d863e3fcb0c461d5a47c1add7f2a90d81561
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015836.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17eff54d33e7cabf86907cfec48ce7ebf3acb2883cf3bfedd464b88f39c64135
+size 797016
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015838.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015838.png
new file mode 100644
index 0000000000000000000000000000000000000000..645c2b66ab44bd52b10aa32df6568a4ae52a1d03
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015838.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2213cd6410a5268d89e2580e2edf8984d6df2333e8f90563f25a6515cc74b405
+size 797932
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015840.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015840.png
new file mode 100644
index 0000000000000000000000000000000000000000..d94e7fd9f5de40740d0dfe080ec513e64f0bb564
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015840.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d32f07f51ade5451d0c822fe77e89a9e6befedc2648dfc6dc5697341ee306717
+size 790885
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015842.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015842.png
new file mode 100644
index 0000000000000000000000000000000000000000..3d98fb468c41c3c9af96e7d765a064a014254cff
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015842.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:260cd45480c3304370adfb5bd695d6a52be1f5b6e028884319605d575d026e07
+size 803299
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015844.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015844.png
new file mode 100644
index 0000000000000000000000000000000000000000..a151b8e5f556006eebaeeeeca1949e96161474de
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015844.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11ff8bc125f9e88efbff74fb97416056bf1bfeb3aba10a2629444305e6638550
+size 795923
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015846.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015846.png
new file mode 100644
index 0000000000000000000000000000000000000000..29efc8166e3f034c605d8960d066711471f7857e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015846.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebc01923f9fb1ae46184fef95c3757ff00be14384f6efade7adb80c59f83f54b
+size 798146
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015848.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015848.png
new file mode 100644
index 0000000000000000000000000000000000000000..c22fa0dcc73af5d2fd74e3478d0cb5068ac8590f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015848.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b627bf9cc0472e68c305f054dd360a92fb2b2378a0e0dce7182fe650ed18d69
+size 840681
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015850.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015850.png
new file mode 100644
index 0000000000000000000000000000000000000000..00e3d13b4f4c16444aa87ea6d4ea814a66c23371
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015850.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7438228b68bf20a00727c4ad4940be65792d5f0c752a3731c6f86494ffd1e128
+size 842915
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015852.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015852.png
new file mode 100644
index 0000000000000000000000000000000000000000..c288c7a24925e92bf20d8202ed973db802359cc7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015852.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4098609a69fe671203a95c8555497360b42600c26dada1a4b9d47926ed1c62f9
+size 842641
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015854.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015854.png
new file mode 100644
index 0000000000000000000000000000000000000000..8da5ef2e8858bf566c149239141b07d844367766
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015854.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47a04357cf7bcf30a1521e77987cd29456a85ec591f32cdd2ecca581ca94f967
+size 855514
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015856.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015856.png
new file mode 100644
index 0000000000000000000000000000000000000000..699376fa14bab0c1775e5759c386baee239b39f8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_1-57-53_990892921/20241220_015856.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58d6c0f3b612c689210cdac51737dad67c679f92ce20370eafb2779fc3b55a26
+size 838550
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_18-53-31_1543755629/20241220_185337.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_18-53-31_1543755629/20241220_185337.png
new file mode 100644
index 0000000000000000000000000000000000000000..56d166e45b26fbe79c63763e7a48eff18b7132df
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_18-53-31_1543755629/20241220_185337.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6c9139872efae6b15e12e28e1e56e44a109cddbe43d6c7818f7be271e55b745
+size 790315
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_18-53-31_1543755629/20241220_185339.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_18-53-31_1543755629/20241220_185339.png
new file mode 100644
index 0000000000000000000000000000000000000000..3eb2419fec9dfddf03bbea3d4159a00bd695cd90
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_18-53-31_1543755629/20241220_185339.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e1e30a4d5a8b946eda50022ab9cd77f49b22585b80cc785d6eac397d080e9f8
+size 807809
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_18-53-31_1543755629/20241220_185341.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_18-53-31_1543755629/20241220_185341.png
new file mode 100644
index 0000000000000000000000000000000000000000..df6542ec53c8266a73e5f1ef52aa927ed9c55fce
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_18-53-31_1543755629/20241220_185341.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be37df2bdb25ec230316a94e3e408fe47f64ba14263f30e8257c502632ebf41d
+size 819184
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_18-53-31_1543755629/20241220_185343.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_18-53-31_1543755629/20241220_185343.png
new file mode 100644
index 0000000000000000000000000000000000000000..9733c207864f102c27652824ba3e22339baf0dcf
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_18-53-31_1543755629/20241220_185343.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfbfa3fba5bab8902c48cf46cb928b7c70d7a69c3787a0c7212e413c1de9700e
+size 724161
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_18-53-31_1543755629/20241220_185345.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_18-53-31_1543755629/20241220_185345.png
new file mode 100644
index 0000000000000000000000000000000000000000..535068c604ae79c8c64cecdbec409449877a1c7c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_18-53-31_1543755629/20241220_185345.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d83b6a837e7312a2f9ba65c7ad8400e2e369ffd0df09027fd9192a18f61d041c
+size 725930
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_18-53-31_1543755629/20241220_185347.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_18-53-31_1543755629/20241220_185347.png
new file mode 100644
index 0000000000000000000000000000000000000000..70bbd5add070093f65ea05cff50cd9296225f54f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-20_18-53-31_1543755629/20241220_185347.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78353cea23df62debd25a1f8bd15ef372248b3cfd1b4aab48a4798cf5ea897eb
+size 729644
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_20-58-7_392035568/20241222_205813.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_20-58-7_392035568/20241222_205813.png
new file mode 100644
index 0000000000000000000000000000000000000000..106a40671353be489a79b62c598b9f64808e00d3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_20-58-7_392035568/20241222_205813.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0cef90cfc85ae0b7a3a42cc03013e8e5aa5b6859202d373320140ea8f1c55e5
+size 760374
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_20-58-7_392035568/20241222_205815.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_20-58-7_392035568/20241222_205815.png
new file mode 100644
index 0000000000000000000000000000000000000000..ed1f347b40e5aac43ab1c685c24c7f6ac3ba0a3b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_20-58-7_392035568/20241222_205815.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5639d120f31744692bfab7416d54b2897313cf8da1b82392a8e290fb0aea556b
+size 758107
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_20-58-7_392035568/20241222_205817.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_20-58-7_392035568/20241222_205817.png
new file mode 100644
index 0000000000000000000000000000000000000000..660a2e5a5aff8a784186607580c20f1581f37086
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_20-58-7_392035568/20241222_205817.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06465abbc15440187a590321294e7861a0607ef50c038396796b34dda8dab902
+size 761620
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_20-58-7_392035568/20241222_205819.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_20-58-7_392035568/20241222_205819.png
new file mode 100644
index 0000000000000000000000000000000000000000..b3c1c2908bc162ebb69b5d5b33f1c58e24df16c1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_20-58-7_392035568/20241222_205819.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59d638a017101d9344a7478ca51058afe0e86cdedda90fb38c8fadb349c9e21c
+size 761804
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_20-58-7_392035568/20241222_205821.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_20-58-7_392035568/20241222_205821.png
new file mode 100644
index 0000000000000000000000000000000000000000..6411c9b40e68304b441af48aaa0397b9b6dfba8a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_20-58-7_392035568/20241222_205821.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:888e3205bf1e9c1ba4b2111283ee322372a457d98d6d46092e6065cb7f7e04e2
+size 761118
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_20-58-7_392035568/20241222_205823.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_20-58-7_392035568/20241222_205823.png
new file mode 100644
index 0000000000000000000000000000000000000000..80f36b7b322d5f77c1bf1c733da348fe4bfbde45
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_20-58-7_392035568/20241222_205823.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b94c4ca180f21c57e231a951b90416f272dcc88697c073d1a156f3c267a515d2
+size 743660
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_20-58-7_392035568/20241222_205825.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_20-58-7_392035568/20241222_205825.png
new file mode 100644
index 0000000000000000000000000000000000000000..0fb13fff505219f8550ff7d45db5a590fd70cad1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_20-58-7_392035568/20241222_205825.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:000ca6a831fa9ffa170c0b33c0e36fc30d8150095271de5a2430e0d2169fe6ec
+size 735628
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_20-58-7_392035568/20241222_205827.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_20-58-7_392035568/20241222_205827.png
new file mode 100644
index 0000000000000000000000000000000000000000..f3b633c4dac3cc84fd1e776c4d2ae38103656ef8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_20-58-7_392035568/20241222_205827.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b4c0971e789e5229afcb7e7b1650d22cdb934dd55ff1b8ce8fa39a93af30509
+size 724576
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_20-58-7_392035568/20241222_205829.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_20-58-7_392035568/20241222_205829.png
new file mode 100644
index 0000000000000000000000000000000000000000..48efddf54599c9050668a091fb29bdb7eaccb156
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_20-58-7_392035568/20241222_205829.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2782cbd9a983ed41c3e40e5bdfd9c82c7097835c604970c94980beab2367abf6
+size 705270
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_20-58-7_392035568/20241222_205831.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_20-58-7_392035568/20241222_205831.png
new file mode 100644
index 0000000000000000000000000000000000000000..4ea348ff356476a0c2f0e98f45e5c5b23d5562d2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_20-58-7_392035568/20241222_205831.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfb4b786447dd0653f2b7b58253099366d49ad9c907c8afe89973761b014a675
+size 687872
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_21-41-19_404158660/20241222_214124.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_21-41-19_404158660/20241222_214124.png
new file mode 100644
index 0000000000000000000000000000000000000000..0f2b1dac04f4b64124ac492e4420bef7f7b2cb63
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_21-41-19_404158660/20241222_214124.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d3647f9bc80b8f74f5d9f341d830cbe9ad639af196d549814fc534b3d0aac67
+size 873931
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_21-41-19_404158660/20241222_214126.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_21-41-19_404158660/20241222_214126.png
new file mode 100644
index 0000000000000000000000000000000000000000..120c41a9f04dd02ad543be6ed9f6dbc6b204be45
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_21-41-19_404158660/20241222_214126.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a39d7144323ac6c906d48261a492446a33dab0abb97fc0be8f55d444e6ddefa6
+size 869150
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_21-41-19_404158660/20241222_214130.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_21-41-19_404158660/20241222_214130.png
new file mode 100644
index 0000000000000000000000000000000000000000..58684c7f1f30a68f6f9349cfad6a250e2933a31c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_21-41-19_404158660/20241222_214130.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc90b9199280e16016f0a7fef56bb36c4e8c7c34e5ca9a5c14678f0afd1fe9df
+size 868086
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_21-41-19_404158660/20241222_214132.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_21-41-19_404158660/20241222_214132.png
new file mode 100644
index 0000000000000000000000000000000000000000..5d1c0d2ebd7447eb3a11b3d2dc5a94644950c538
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_21-41-19_404158660/20241222_214132.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:027aa36b627d31ba54e69f727d5639b186252248bd59f88e6868b4d850d1c7d5
+size 858954
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_21-41-19_404158660/20241222_214134.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_21-41-19_404158660/20241222_214134.png
new file mode 100644
index 0000000000000000000000000000000000000000..3a15fb1a0f69255988c2efd88fc724e93af18010
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_21-41-19_404158660/20241222_214134.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3889bbe73ef0687ab2c802d0b7cb43e276de6530b04580265b88adc581b059e0
+size 845214
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_21-41-19_404158660/20241222_214136.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_21-41-19_404158660/20241222_214136.png
new file mode 100644
index 0000000000000000000000000000000000000000..4a61723fe87732014c9037294bbf75208b8ac8c9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_21-41-19_404158660/20241222_214136.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:369db870e5625a679728209f263625cb28e0503c103386e4463be66992335586
+size 845840
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_21-41-19_404158660/20241222_214140.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_21-41-19_404158660/20241222_214140.png
new file mode 100644
index 0000000000000000000000000000000000000000..4397df93403a6bb4f78eda49636fd713e870cfa1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_21-41-19_404158660/20241222_214140.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96cbf6c4adfaeeae073cef0e6e84b1d7893bf45928d7d878cf5e12862ff9d8df
+size 849363
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_21-41-19_404158660/20241222_214142.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_21-41-19_404158660/20241222_214142.png
new file mode 100644
index 0000000000000000000000000000000000000000..55941132c9b959183762705968064ea338ebb6f0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_21-41-19_404158660/20241222_214142.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07e8303658b53ac07c2427555ded92225c0cacf9b22ca8a4be532677f7e28c71
+size 846845
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_21-41-19_404158660/20241222_214144.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_21-41-19_404158660/20241222_214144.png
new file mode 100644
index 0000000000000000000000000000000000000000..53a96da4e1e63cbc7bafe9c783a31755ca6a2f16
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_21-41-19_404158660/20241222_214144.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66728e12dcbe0542d65b418f3e16b172daaad66e0bb31036f9e633f15029d1d8
+size 850144
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_21-41-19_404158660/20241222_214146.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_21-41-19_404158660/20241222_214146.png
new file mode 100644
index 0000000000000000000000000000000000000000..9a490a69586f59a7d9dc147355ccf50b4fa62fd0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_21-41-19_404158660/20241222_214146.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8beb6679c5e55efb10b9cc4ba3e1d038f002426f8a4f06c051247996c894a36e
+size 850048
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_21-41-19_404158660/20241222_214148.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_21-41-19_404158660/20241222_214148.png
new file mode 100644
index 0000000000000000000000000000000000000000..6fc145171469cedeed8ae3b133a0d7610a50b952
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_21-41-19_404158660/20241222_214148.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37ada08435de56ffe96f23731765b83b24a66bd9ebfef3be462f4c2b2878bf46
+size 856516
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_21-41-19_404158660/20241222_214154.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_21-41-19_404158660/20241222_214154.png
new file mode 100644
index 0000000000000000000000000000000000000000..80f73189e7e89ee601e599d2d4678690956c3faa
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_21-41-19_404158660/20241222_214154.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cda2a4be35354138fe76961547c56e95481939c199ec53a2f19b00d031c77124
+size 932653
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_21-41-19_404158660/20241222_214156.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_21-41-19_404158660/20241222_214156.png
new file mode 100644
index 0000000000000000000000000000000000000000..fb0cd8f3332f391ec3c2217c11a958eb42a37644
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_21-41-19_404158660/20241222_214156.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:405f5babb335d39936a42ae7a4c37141d004193f66c178d1dd520821047433a1
+size 919910
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232241.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232241.png
new file mode 100644
index 0000000000000000000000000000000000000000..901ce61260c04f227ab8d28ba6e3d53023465384
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232241.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e8495686d2f2c476a066f1f49a99030dfb0f638adeffae37124553d014144fc
+size 861220
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232243.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232243.png
new file mode 100644
index 0000000000000000000000000000000000000000..1f108ae38c363d0caf6bdd9ade2e1ca20b970299
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232243.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2496875f3812fb48f1e00fe082e343a548e5ee2f684b4e1e4d91b3a904d24c29
+size 868026
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232245.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232245.png
new file mode 100644
index 0000000000000000000000000000000000000000..3d1badb59d58e517f6eb1c307977a50d7e8f0dd0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232245.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b20583d172a62e2356e41518ac3241ba501d326e0fce4eb6f3b0cd64fb27a0c
+size 878470
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232247.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232247.png
new file mode 100644
index 0000000000000000000000000000000000000000..b5843727bb81e4646152f388cfb3470ad22d1dcb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232247.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29c774dfb5284f5e6bdb6aa4df18e12a0cce95bccc12d4972b1979ba3d4efb96
+size 869567
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232249.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232249.png
new file mode 100644
index 0000000000000000000000000000000000000000..9d984ce2e117abded0602cc8381d5bc09e8d7569
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232249.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9602bf14688b757dc8b2e2d3550a85fdb87efe98d6b85593789f940f8299831
+size 879440
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232251.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232251.png
new file mode 100644
index 0000000000000000000000000000000000000000..f21cdb1ee37b2b82ed3117b7e151158b17e720b2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232251.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7e124fbf541451c99611395e0d335500119395dea271b6b79ece72774c56e7c
+size 812837
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232253.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232253.png
new file mode 100644
index 0000000000000000000000000000000000000000..51c7833ba2708b6d0ff7246a30df9a3a549c5ad6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232253.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3e3cc9eb5c1a0071daa810430d5139eb45fea1a0126b371807a5375a3e3ceee
+size 807586
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232255.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232255.png
new file mode 100644
index 0000000000000000000000000000000000000000..6b24364e1be26fcf24467f62a76ecebf67f0a118
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232255.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fe9e7ab54bb54e1d92824009b8d735189eace81d699ff52f031ce2eb321b472
+size 811677
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232257.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232257.png
new file mode 100644
index 0000000000000000000000000000000000000000..da619e5250d1b4efdabcfa0a8526768274ae4617
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232257.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bffa3057b0ef21d1d69aef82da9ac2bdc41fd742541648566bb2836c7e36134f
+size 810771
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232259.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232259.png
new file mode 100644
index 0000000000000000000000000000000000000000..4f86dd5a3d9ff3efbf10e44ee6a53669d0f53e98
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232259.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f32f0140c003a8805129a8a4c637b978c19b0454343bac1143e2eaa99f560eb
+size 797663
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232301.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232301.png
new file mode 100644
index 0000000000000000000000000000000000000000..a98e2facef0cc49e2b807364210de3b120bc316b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232301.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:409b81bfb9fba60ac39911a0787590cf0cecb29ee1594f20da7464f8791700b9
+size 806627
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232303.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232303.png
new file mode 100644
index 0000000000000000000000000000000000000000..120dfc5602d869940aaf59e2b7cd4254db6dadc7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232303.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b6e41581d81d49189f3d6515137e85526b333868029ff8894541a8c52096b84
+size 808379
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232305.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232305.png
new file mode 100644
index 0000000000000000000000000000000000000000..178b9736b1504c2f795795c808bc2931c7488aca
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232305.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db5f7078d589b30f6bdf3032a73866cedcca10edec6c73f8293464c6dad54e34
+size 806180
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232307.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232307.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd89590125e48741f844c0c750b41b31f68948eb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232307.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8e6dada97ca64e3ec098a39d2b897c040ec41f037189f807a3d57176b3cc988
+size 804341
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232309.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232309.png
new file mode 100644
index 0000000000000000000000000000000000000000..aa4590f3a8daecba244b5676d574c526179f5f7a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232309.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:460a6b3c46f06a3cc26830b09eb2d6f3ff846889c452937d27f5063c53298764
+size 805156
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232311.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232311.png
new file mode 100644
index 0000000000000000000000000000000000000000..ba8ace408b68ccdc9abc0d7f801c8a5bde3b552d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232311.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef5ef9f6133c019a647584578100fa6aa7125aa0b92672e1d16739ccb9cb2777
+size 807882
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232313.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232313.png
new file mode 100644
index 0000000000000000000000000000000000000000..786591c49087245bbfbb6873afe34c2ffdfbe1c7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232313.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79854fe68766f6091c0e2a551985cd1990c44fb298479811669e1f2246ba81d9
+size 809342
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232315.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232315.png
new file mode 100644
index 0000000000000000000000000000000000000000..b7c1c09d10912fb82ae71f64454da7fd8c746959
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232315.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff16fe44a3a2bca19ba96114d871ea87207a0e8242bb97e3331eae72939b3832
+size 804826
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232317.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232317.png
new file mode 100644
index 0000000000000000000000000000000000000000..e1383b7782379754f7521408448be3a775b9fec6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232317.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4022733abcb9ccc4ff60522c473b897d3fcb02c6b94f2f46f19c2ac0ed7f78f
+size 783647
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232319.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232319.png
new file mode 100644
index 0000000000000000000000000000000000000000..af7dfaae35503a0c3e6516b1cae8c3e33d7a548a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232319.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee391d7a9743fe21e3b14a42dfaf391c5d21490685e1211dafc364bd1a264c71
+size 777455
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232321.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232321.png
new file mode 100644
index 0000000000000000000000000000000000000000..cb12c8231458a1f72d01a4423a23db44b63691d8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232321.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb10972cbc69d4db3b4096dc426ea14853b66ea0c5dac1abac47fbe2463901a2
+size 768500
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232323.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232323.png
new file mode 100644
index 0000000000000000000000000000000000000000..a5b88bda9ac7474c78549b07c8bfdd5b0a4c1721
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232323.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d082150f99f07d9cbb525edf62b964eb12fd042c53e2fee9206ac7366be820b2
+size 757038
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232325.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232325.png
new file mode 100644
index 0000000000000000000000000000000000000000..d2fa1fa8e2e39c2e6b4b9040d2b44be6f35eb7e0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232325.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fcb52afdb823e216887bfdc0a448f7664fd3c368e75f6bbc50aea5fa4009995
+size 705204
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232327.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232327.png
new file mode 100644
index 0000000000000000000000000000000000000000..88e02b6c09c8851f6659003384acd635245ea03d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232327.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06544cbc4fbce99ebe0b21c99dd930f1d918fd31ee23ec901509e61ed4e7e016
+size 707210
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232329.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232329.png
new file mode 100644
index 0000000000000000000000000000000000000000..2c82191a6e8bf9ed69e3b1718eed58d25310e6ba
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232329.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bce71512e140cf0edcbff965e9a8b6d76fc6c93049f5577adb14c38729ec506a
+size 678572
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232331.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232331.png
new file mode 100644
index 0000000000000000000000000000000000000000..1924f924fe6f217ed18b00d2803323082d112947
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232331.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b24b13e6ba3635fe71d74b7d0bacc0e3a3493160d2098bf3b164d4052e09a62c
+size 647536
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232333.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232333.png
new file mode 100644
index 0000000000000000000000000000000000000000..96fa0f42d6d776e4060d68ceaafa1c36a91c6fc5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232333.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99a2c621f3c039d2e8845c0741df1dadc47b87d736add03115e45d98893f2376
+size 622769
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232335.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232335.png
new file mode 100644
index 0000000000000000000000000000000000000000..52c5c5cac4ea435f4ba2cf58463b287fc2b8f145
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232335.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5acb3ef8135ede9976b7cc7a0191bf817574683d351a8fff99cfd1594f206514
+size 581433
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232337.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232337.png
new file mode 100644
index 0000000000000000000000000000000000000000..ed1343757ec90f62753e9d00e1ff79e1c189d19e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232337.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f12ced0446f61fcb7e3b34e379c255ac3f3ddcaf4f274843f2d3b386cd6fef4b
+size 681763
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232339.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232339.png
new file mode 100644
index 0000000000000000000000000000000000000000..75eacc089d63e1024866deb054b2634b8d6e9094
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232339.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ce959e5085cf4ee821e30d33786ce46bf1865ddd8506429775f2363c5acfd54
+size 724805
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232341.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232341.png
new file mode 100644
index 0000000000000000000000000000000000000000..022bee775dcd6a641d2e759c3ed31220fd946b48
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232341.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4274aef3ae281f5bce48a23cb6301fdc6d150b1b6b5354b0e31e8c34492143c1
+size 709769
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232343.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232343.png
new file mode 100644
index 0000000000000000000000000000000000000000..01a7fe8bc272b72d6c601bce86fd32abd1b97139
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232343.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:badb3dd97e1521f368dced793e1087555b0024a7e39468680900d394a19afa45
+size 695172
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232345.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232345.png
new file mode 100644
index 0000000000000000000000000000000000000000..1d87db946696b8866c15d09349f323399e4ff3d4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232345.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bebb319062a968535e4fb4d96d1027453d36f6b58c4ebd217ccd1be42e5f5990
+size 659572
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232347.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232347.png
new file mode 100644
index 0000000000000000000000000000000000000000..d206e311d43801555dddebde7c3d28f43042fb90
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232347.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4554a146787b1fc79a1ae29bb84971b8211eb7943b56f979b44184f8a43c579f
+size 638678
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232349.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232349.png
new file mode 100644
index 0000000000000000000000000000000000000000..306fc9d1a1b1d11cdeede1ae9602226b71938d38
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232349.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c60d7af7e71da78afdbfd62ada7b588e7e5efc3be0c5cde9145fe6c212cec03
+size 608067
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232351.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232351.png
new file mode 100644
index 0000000000000000000000000000000000000000..d5b531d9d61041681d856ed98e1a60f4f2beef24
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-22_23-22-35_452867621/20241222_232351.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f27e34cd0c4ec805e6211df353dd4ca1589c24177844c81b808e40e74c80cef
+size 586511
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-24_12-2-20_1102520059/20241224_120228.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-24_12-2-20_1102520059/20241224_120228.png
new file mode 100644
index 0000000000000000000000000000000000000000..512463e3395fa950b0bfc5c930c6bf3b68b80690
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-24_12-2-20_1102520059/20241224_120228.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbd2801a698fb5fbc58b705f590bb2fa0cf86778241546b6d1bc2937fdba364b
+size 772629
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-24_12-2-20_1102520059/20241224_120230.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-24_12-2-20_1102520059/20241224_120230.png
new file mode 100644
index 0000000000000000000000000000000000000000..6f0900b083da74aad4a28df17796db9adae7219e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-24_12-2-20_1102520059/20241224_120230.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c332e719ca2972adff6ab6d19c698aff73c201d66766df73b3ff54650a4d73ad
+size 771741
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-24_12-2-20_1102520059/20241224_120232.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-24_12-2-20_1102520059/20241224_120232.png
new file mode 100644
index 0000000000000000000000000000000000000000..19774e67a82f39fe61915303a83cfd00a738f094
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-24_12-2-20_1102520059/20241224_120232.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f82740afff7648d6b37c0c7f93fe3e00f972fbf2fe61ef3070b92d4c31124762
+size 767495
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-24_12-2-20_1102520059/20241224_120234.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-24_12-2-20_1102520059/20241224_120234.png
new file mode 100644
index 0000000000000000000000000000000000000000..f3a8cacedc7316634cb8b9af558ca30c13b2fb7b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-24_12-2-20_1102520059/20241224_120234.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cb3051272eda4d0d3040f51764473ac9837c474fc90f1e8139db86f0987b9c0
+size 770890
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-24_12-2-20_1102520059/20241224_120235.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-24_12-2-20_1102520059/20241224_120235.png
new file mode 100644
index 0000000000000000000000000000000000000000..208afc990cd1f5037e92698f04ef4612568c0d26
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-24_12-2-20_1102520059/20241224_120235.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a887ae60df4a1cbb46ffbda3a909404efaeec451d3633e90fd93196b7b89f6e4
+size 774148
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-24_12-2-20_1102520059/20241224_120237.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-24_12-2-20_1102520059/20241224_120237.png
new file mode 100644
index 0000000000000000000000000000000000000000..22834635048c8583b50b399374f99730e6fd29c2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-24_12-2-20_1102520059/20241224_120237.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4835e1eb2aeea29a1d27cb39f3839ffe7d033fd2f1b9b950cf1466215b7ac9b
+size 775417
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-24_12-2-20_1102520059/20241224_120239.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-24_12-2-20_1102520059/20241224_120239.png
new file mode 100644
index 0000000000000000000000000000000000000000..cf4726750d2513811341ef4abf71be6442a966df
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-24_12-2-20_1102520059/20241224_120239.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aea282d1a0526dd8ed62e07ff52d27866a2fcd0cb3487a705c458c72262484bf
+size 777989
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-24_12-2-20_1102520059/20241224_120241.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-24_12-2-20_1102520059/20241224_120241.png
new file mode 100644
index 0000000000000000000000000000000000000000..e4daf3e91e737dc0fdf189f9d286684defa25ab7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-24_12-2-20_1102520059/20241224_120241.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37571a31a619ffad0285ae99f74bc70af41e875ffe36193dbb969637fc4bd27b
+size 785829
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-24_12-2-20_1102520059/20241224_120243.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-24_12-2-20_1102520059/20241224_120243.png
new file mode 100644
index 0000000000000000000000000000000000000000..3cf6510d06537654037b77ea338948e103556e81
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-24_12-2-20_1102520059/20241224_120243.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfc310c47be39fe83c612ce98f1c999aac0791e8b9acdabc64ef5e1698dab0ad
+size 790612
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-24_12-2-20_1102520059/20241224_120245.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-24_12-2-20_1102520059/20241224_120245.png
new file mode 100644
index 0000000000000000000000000000000000000000..800b15a1118dc58dd242b67f764d71db9291a844
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-24_12-2-20_1102520059/20241224_120245.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84c67679ef243e04d0028a125b90a9b9694157cfc9ce4d1537e79e58a856733a
+size 793867
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-24_12-2-20_1102520059/20241224_120247.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-24_12-2-20_1102520059/20241224_120247.png
new file mode 100644
index 0000000000000000000000000000000000000000..3d0f0ab218563bbd5167200b1cc0b1d556ce7c2a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-24_12-2-20_1102520059/20241224_120247.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a05be91ee2a1f87f4e17e495c6e8c9efa9fa6e1c570eb3b996f0a65da364ed6f
+size 804841
diff --git a/Image/env_ue_bigcity/astar_data/low_short/2024-12-24_12-2-20_1102520059/20241224_120253.png b/Image/env_ue_bigcity/astar_data/low_short/2024-12-24_12-2-20_1102520059/20241224_120253.png
new file mode 100644
index 0000000000000000000000000000000000000000..044211ab6c7877d6627ca3f908a8f72733cd2647
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short/2024-12-24_12-2-20_1102520059/20241224_120253.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e3c1de9267b533f5437f060077b0fd39c44d00f2055072e9e03717a86dae2e1
+size 812151
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-45-31_1144522535/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-45-31_1144522535/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3cf3227f10d8dbd1ac5205fd5099a8b7d91bd835
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-45-31_1144522535/pose.jsonl
@@ -0,0 +1,730 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            156.22869398796547,
+            1223.585761426203,
+            0.08084928823147308
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            156.22869398796547,
+            1223.585761426203,
+            3.080849288231473
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            156.22869398796547,
+            1223.585761426203,
+            6.080849288231473
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            156.22869398796547,
+            1223.585761426203,
+            9.080849288231473
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            156.22869398796547,
+            1223.585761426203,
+            12.080849288231473
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            156.22869398796547,
+            1223.585761426203,
+            15.080849288231473
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            156.22869398796547,
+            1223.585761426203,
+            18.080849288231473
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            156.22869398796547,
+            1223.585761426203,
+            21.080849288231473
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            156.22869398796547,
+            1223.585761426203,
+            24.080849288231473
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            156.22869398796547,
+            1223.585761426203,
+            27.080849288231473
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            156.22869398796547,
+            1223.585761426203,
+            30.080849288231473
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            157.72869398796547,
+            1220.9876852148495,
+            30.080849288231473
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            159.22869398796547,
+            1218.3896090034962,
+            30.080849288231473
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            160.72869398796547,
+            1215.7915327921428,
+            30.080849288231473
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            162.22869398796547,
+            1213.1934565807894,
+            30.080849288231473
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            163.72869398796547,
+            1210.595380369436,
+            30.080849288231473
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            163.72869398796547,
+            1210.595380369436,
+            30.080849288231473
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            163.72869398796547,
+            1207.595380369436,
+            30.080849288231473
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            163.72869398796547,
+            1204.595380369436,
+            30.080849288231473
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            163.72869398796547,
+            1204.595380369436,
+            30.080849288231473
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            163.72869398796547,
+            1204.595380369436,
+            30.080849288231473
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982989
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            166.3267701993188,
+            1203.095380369436,
+            30.080849288231473
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            168.9248464106721,
+            1201.595380369436,
+            30.080849288231473
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            171.52292262202542,
+            1200.095380369436,
+            30.080849288231473
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            174.12099883337874,
+            1198.595380369436,
+            30.080849288231473
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            176.71907504473205,
+            1197.095380369436,
+            30.080849288231473
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            179.31715125608537,
+            1195.595380369436,
+            30.080849288231473
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            181.91522746743868,
+            1194.095380369436,
+            30.080849288231473
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            184.513303678792,
+            1192.595380369436,
+            30.080849288231473
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            187.11137989014532,
+            1191.095380369436,
+            30.080849288231473
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            189.70945610149863,
+            1189.595380369436,
+            30.080849288231473
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            192.30753231285195,
+            1188.095380369436,
+            30.080849288231473
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            194.90560852420526,
+            1186.595380369436,
+            30.080849288231473
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            197.50368473555858,
+            1185.095380369436,
+            30.080849288231473
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            200.1017609469119,
+            1183.595380369436,
+            30.080849288231473
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            202.6998371582652,
+            1182.095380369436,
+            30.080849288231473
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            205.29791336961853,
+            1180.595380369436,
+            30.080849288231473
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            207.89598958097184,
+            1179.095380369436,
+            30.080849288231473
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            210.49406579232516,
+            1177.595380369436,
+            30.080849288231473
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            213.09214200367848,
+            1176.095380369436,
+            30.080849288231473
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            215.6902182150318,
+            1174.595380369436,
+            30.080849288231473
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            215.6902182150318,
+            1174.595380369436,
+            30.080849288231473
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            218.6902182150318,
+            1174.595380369436,
+            30.080849288231473
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            221.6902182150318,
+            1174.595380369436,
+            30.080849288231473
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            224.6902182150318,
+            1174.595380369436,
+            30.080849288231473
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            224.6902182150318,
+            1174.595380369436,
+            27.080849288231473
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            224.6902182150318,
+            1174.595380369436,
+            24.080849288231473
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            224.6902182150318,
+            1174.595380369436,
+            21.080849288231473
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            224.6902182150318,
+            1174.595380369436,
+            18.080849288231473
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            224.6902182150318,
+            1174.595380369436,
+            15.080849288231473
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            224.6902182150318,
+            1174.595380369436,
+            12.080849288231473
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            224.6902182150318,
+            1174.595380369436,
+            9.080849288231473
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            224.6902182150318,
+            1174.595380369436,
+            6.080849288231473
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            224.6902182150318,
+            1174.595380369436,
+            3.080849288231473
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            224.6902182150318,
+            1174.595380369436,
+            0.08084928823147308
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "Brown",
+        "feature": "Detailed facade",
+        "position": [
+            251.92551,
+            1153.7739100000001,
+            0.0
+        ],
+        "shape": "Rectangular",
+        "dir": "right",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_13-2-43_1314218593/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_13-2-43_1314218593/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d0bca57ea57bbf76201ff205062fad2cf1b854ea
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_13-2-43_1314218593/pose.jsonl
@@ -0,0 +1,717 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1341.63101606395,
+            1134.3043004115807,
+            0.9159031639257442
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1341.63101606395,
+            1134.3043004115807,
+            3.9159031639257442
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1341.63101606395,
+            1134.3043004115807,
+            6.915903163925744
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1341.63101606395,
+            1134.3043004115807,
+            9.915903163925744
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1341.63101606395,
+            1134.3043004115807,
+            12.915903163925744
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1341.63101606395,
+            1134.3043004115807,
+            15.915903163925744
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1341.63101606395,
+            1134.3043004115807,
+            18.915903163925744
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1341.63101606395,
+            1134.3043004115807,
+            21.915903163925744
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1341.63101606395,
+            1134.3043004115807,
+            24.915903163925744
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1341.63101606395,
+            1134.3043004115807,
+            27.915903163925744
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1341.63101606395,
+            1134.3043004115807,
+            30.915903163925744
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1340.13101606395,
+            1136.902376622934,
+            30.915903163925744
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1338.63101606395,
+            1139.5004528342874,
+            30.915903163925744
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1337.13101606395,
+            1142.0985290456408,
+            30.915903163925744
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1335.63101606395,
+            1144.6966052569942,
+            30.915903163925744
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1334.13101606395,
+            1147.2946814683476,
+            30.915903163925744
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1332.63101606395,
+            1149.892757679701,
+            30.915903163925744
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1331.13101606395,
+            1152.4908338910543,
+            30.915903163925744
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1329.63101606395,
+            1155.0889101024077,
+            30.915903163925744
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1328.13101606395,
+            1157.686986313761,
+            30.915903163925744
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1326.63101606395,
+            1160.2850625251144,
+            30.915903163925744
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1325.13101606395,
+            1162.8831387364678,
+            30.915903163925744
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1323.63101606395,
+            1165.4812149478212,
+            30.915903163925744
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1323.63101606395,
+            1165.4812149478212,
+            30.915903163925744
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1321.0329398525967,
+            1166.9812149478212,
+            30.915903163925744
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1318.4348636412433,
+            1168.4812149478212,
+            30.915903163925744
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1315.83678742989,
+            1169.9812149478212,
+            30.915903163925744
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1313.2387112185365,
+            1171.4812149478212,
+            30.915903163925744
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1310.6406350071832,
+            1172.9812149478212,
+            30.915903163925744
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1308.0425587958298,
+            1174.4812149478212,
+            30.915903163925744
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1305.4444825844764,
+            1175.9812149478212,
+            30.915903163925744
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1302.846406373123,
+            1177.4812149478212,
+            30.915903163925744
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1300.2483301617697,
+            1178.9812149478212,
+            30.915903163925744
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1297.6502539504163,
+            1180.4812149478212,
+            30.915903163925744
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1295.052177739063,
+            1181.9812149478212,
+            30.915903163925744
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1292.4541015277096,
+            1183.4812149478212,
+            30.915903163925744
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1292.4541015277096,
+            1183.4812149478212,
+            30.915903163925744
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -9.43689570931383e-15
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1289.4541015277096,
+            1183.4812149478212,
+            30.915903163925744
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1286.4541015277096,
+            1183.4812149478212,
+            30.915903163925744
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1283.4541015277096,
+            1183.4812149478212,
+            30.915903163925744
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1280.4541015277096,
+            1183.4812149478212,
+            30.915903163925744
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1277.4541015277096,
+            1183.4812149478212,
+            30.915903163925744
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -1277.4541015277096,
+            1183.4812149478212,
+            30.915903163925744
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -1274.8560253163562,
+            1184.9812149478212,
+            30.915903163925744
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -1274.8560253163562,
+            1184.9812149478212,
+            27.915903163925744
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -1274.8560253163562,
+            1184.9812149478212,
+            24.915903163925744
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -1274.8560253163562,
+            1184.9812149478212,
+            21.915903163925744
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -1274.8560253163562,
+            1184.9812149478212,
+            18.915903163925744
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -1274.8560253163562,
+            1184.9812149478212,
+            15.915903163925744
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -1274.8560253163562,
+            1184.9812149478212,
+            12.915903163925744
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -1274.8560253163562,
+            1184.9812149478212,
+            9.915903163925744
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -1274.8560253163562,
+            1184.9812149478212,
+            6.915903163925744
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -1274.8560253163562,
+            1184.9812149478212,
+            3.9159031639257442
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -1274.8560253163562,
+            1184.9812149478212,
+            0.9159031639257442
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "red",
+        "feature": "ornate facade",
+        "position": [
+            -1247.09156,
+            1205.3693799999999,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-50-57_1635550270/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-50-57_1635550270/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..983f8783bbd54a9eaf452435d67644123865c1f3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-50-57_1635550270/pose.jsonl
@@ -0,0 +1,509 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            391.91501135557974,
+            -92.15086226891691,
+            0.7938764232070383
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            391.91501135557974,
+            -92.15086226891691,
+            3.7938764232070383
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            391.91501135557974,
+            -92.15086226891691,
+            6.793876423207038
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            391.91501135557974,
+            -92.15086226891691,
+            9.793876423207038
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            391.91501135557974,
+            -92.15086226891691,
+            12.793876423207038
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            391.91501135557974,
+            -92.15086226891691,
+            15.793876423207038
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            391.91501135557974,
+            -92.15086226891691,
+            18.79387642320704
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            391.91501135557974,
+            -92.15086226891691,
+            21.79387642320704
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            391.91501135557974,
+            -92.15086226891691,
+            24.79387642320704
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            391.91501135557974,
+            -92.15086226891691,
+            27.79387642320704
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            391.91501135557974,
+            -92.15086226891691,
+            30.79387642320704
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            391.91501135557974,
+            -92.15086226891691,
+            33.79387642320704
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            391.91501135557974,
+            -92.15086226891691,
+            36.79387642320704
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            391.91501135557974,
+            -92.15086226891691,
+            39.79387642320704
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            391.91501135557974,
+            -92.15086226891691,
+            42.79387642320704
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            391.91501135557974,
+            -92.15086226891691,
+            45.79387642320704
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            391.91501135557974,
+            -92.15086226891691,
+            48.79387642320704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            394.91501135557974,
+            -92.15086226891691,
+            48.79387642320704
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            394.91501135557974,
+            -92.15086226891691,
+            48.79387642320704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            397.51308756693305,
+            -93.65086226891691,
+            48.79387642320704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            400.11116377828637,
+            -95.15086226891691,
+            48.79387642320704
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            402.7092399896397,
+            -96.65086226891691,
+            48.79387642320704
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            402.7092399896397,
+            -96.65086226891691,
+            45.79387642320704
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            402.7092399896397,
+            -96.65086226891691,
+            42.79387642320704
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            402.7092399896397,
+            -96.65086226891691,
+            39.79387642320704
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            402.7092399896397,
+            -96.65086226891691,
+            36.79387642320704
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            402.7092399896397,
+            -96.65086226891691,
+            33.79387642320704
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            402.7092399896397,
+            -96.65086226891691,
+            30.79387642320704
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            402.7092399896397,
+            -96.65086226891691,
+            27.79387642320704
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            402.7092399896397,
+            -96.65086226891691,
+            24.79387642320704
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            402.7092399896397,
+            -96.65086226891691,
+            21.79387642320704
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            402.7092399896397,
+            -96.65086226891691,
+            18.79387642320704
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            402.7092399896397,
+            -96.65086226891691,
+            15.793876423207038
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            402.7092399896397,
+            -96.65086226891691,
+            12.793876423207038
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            402.7092399896397,
+            -96.65086226891691,
+            9.793876423207038
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            402.7092399896397,
+            -96.65086226891691,
+            6.793876423207038
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            402.7092399896397,
+            -96.65086226891691,
+            3.7938764232070383
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            402.7092399896397,
+            -96.65086226891691,
+            0.7938764232070383
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "dark",
+        "feature": "glass windows",
+        "position": [
+            495.99715,
+            -151.66514999999998,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_15-33-27_1204462951/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_15-33-27_1204462951/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ef61d327f1d4e2f1fd247fc2e855a1f26ade1930
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_15-33-27_1204462951/pose.jsonl
@@ -0,0 +1,470 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1885.920709313284,
+            656.3324860633346,
+            2.8704684546304406
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1885.920709313284,
+            656.3324860633346,
+            5.870468454630441
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1885.920709313284,
+            656.3324860633346,
+            8.87046845463044
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1885.920709313284,
+            656.3324860633346,
+            11.87046845463044
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1885.920709313284,
+            656.3324860633346,
+            14.87046845463044
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1885.920709313284,
+            656.3324860633346,
+            17.87046845463044
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1885.920709313284,
+            656.3324860633346,
+            20.87046845463044
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1885.920709313284,
+            656.3324860633346,
+            23.87046845463044
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1885.920709313284,
+            656.3324860633346,
+            26.87046845463044
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1885.920709313284,
+            656.3324860633346,
+            29.87046845463044
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1885.920709313284,
+            656.3324860633346,
+            32.87046845463044
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1885.920709313284,
+            656.3324860633346,
+            35.87046845463044
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1885.920709313284,
+            656.3324860633346,
+            38.87046845463044
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1882.920709313284,
+            656.3324860633346,
+            38.87046845463044
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1879.920709313284,
+            656.3324860633346,
+            38.87046845463044
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1876.920709313284,
+            656.3324860633346,
+            38.87046845463044
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1873.920709313284,
+            656.3324860633346,
+            38.87046845463044
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1870.920709313284,
+            656.3324860633346,
+            38.87046845463044
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1867.920709313284,
+            656.3324860633346,
+            38.87046845463044
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1864.920709313284,
+            656.3324860633346,
+            38.87046845463044
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1864.920709313284,
+            656.3324860633346,
+            38.87046845463044
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1862.3226331019307,
+            657.8324860633346,
+            38.87046845463044
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1859.7245568905773,
+            659.3324860633346,
+            38.87046845463044
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1859.7245568905773,
+            659.3324860633346,
+            35.87046845463044
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1859.7245568905773,
+            659.3324860633346,
+            32.87046845463044
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1859.7245568905773,
+            659.3324860633346,
+            29.87046845463044
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1859.7245568905773,
+            659.3324860633346,
+            26.87046845463044
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1859.7245568905773,
+            659.3324860633346,
+            23.87046845463044
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1859.7245568905773,
+            659.3324860633346,
+            20.87046845463044
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1859.7245568905773,
+            659.3324860633346,
+            17.87046845463044
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1859.7245568905773,
+            659.3324860633346,
+            14.87046845463044
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1859.7245568905773,
+            659.3324860633346,
+            11.87046845463044
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1859.7245568905773,
+            659.3324860633346,
+            8.87046845463044
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1859.7245568905773,
+            659.3324860633346,
+            5.870468454630441
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1859.7245568905773,
+            659.3324860633346,
+            2.8704684546304406
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "red",
+        "feature": "ornate detailing",
+        "position": [
+            1777.27266,
+            674.21352,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_16-21-25_1859031536/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_16-21-25_1859031536/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f61c8e1c351ee117271ca9e2aefaef972ff0bf1d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_16-21-25_1859031536/pose.jsonl
@@ -0,0 +1,782 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1948.8419454603966,
+            1202.5468832975905,
+            1.226016106787334
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1948.8419454603966,
+            1202.5468832975905,
+            4.226016106787334
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1948.8419454603966,
+            1202.5468832975905,
+            7.226016106787334
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1948.8419454603966,
+            1202.5468832975905,
+            10.226016106787334
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1948.8419454603966,
+            1202.5468832975905,
+            13.226016106787334
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1948.8419454603966,
+            1202.5468832975905,
+            16.226016106787334
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1948.8419454603966,
+            1202.5468832975905,
+            19.226016106787334
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1948.8419454603966,
+            1202.5468832975905,
+            22.226016106787334
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1948.8419454603966,
+            1202.5468832975905,
+            25.226016106787334
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1948.8419454603966,
+            1202.5468832975905,
+            28.226016106787334
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1948.8419454603966,
+            1202.5468832975905,
+            31.226016106787334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1946.2438692490432,
+            1204.0468832975905,
+            31.226016106787334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1943.6457930376898,
+            1205.5468832975905,
+            31.226016106787334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1941.0477168263365,
+            1207.0468832975905,
+            31.226016106787334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1938.449640614983,
+            1208.5468832975905,
+            31.226016106787334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1935.8515644036297,
+            1210.0468832975905,
+            31.226016106787334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1933.2534881922763,
+            1211.5468832975905,
+            31.226016106787334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1930.655411980923,
+            1213.0468832975905,
+            31.226016106787334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1928.0573357695696,
+            1214.5468832975905,
+            31.226016106787334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1925.4592595582162,
+            1216.0468832975905,
+            31.226016106787334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1922.8611833468628,
+            1217.5468832975905,
+            31.226016106787334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1920.2631071355095,
+            1219.0468832975905,
+            31.226016106787334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1917.665030924156,
+            1220.5468832975905,
+            31.226016106787334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1915.0669547128027,
+            1222.0468832975905,
+            31.226016106787334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1912.4688785014494,
+            1223.5468832975905,
+            31.226016106787334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1909.870802290096,
+            1225.0468832975905,
+            31.226016106787334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1907.2727260787426,
+            1226.5468832975905,
+            31.226016106787334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1904.6746498673892,
+            1228.0468832975905,
+            31.226016106787334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1902.0765736560359,
+            1229.5468832975905,
+            31.226016106787334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1899.4784974446825,
+            1231.0468832975905,
+            31.226016106787334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1896.8804212333291,
+            1232.5468832975905,
+            31.226016106787334
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1896.8804212333291,
+            1232.5468832975905,
+            31.226016106787334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1895.3804212333291,
+            1235.1449595089439,
+            31.226016106787334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1893.8804212333291,
+            1237.7430357202973,
+            31.226016106787334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1892.3804212333291,
+            1240.3411119316506,
+            31.226016106787334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1890.8804212333291,
+            1242.939188143004,
+            31.226016106787334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1889.3804212333291,
+            1245.5372643543574,
+            31.226016106787334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1887.8804212333291,
+            1248.1353405657107,
+            31.226016106787334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1886.3804212333291,
+            1250.7334167770641,
+            31.226016106787334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1884.8804212333291,
+            1253.3314929884175,
+            31.226016106787334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1883.3804212333291,
+            1255.9295691997709,
+            31.226016106787334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1881.8804212333291,
+            1258.5276454111242,
+            31.226016106787334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1880.3804212333291,
+            1261.1257216224776,
+            31.226016106787334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1878.8804212333291,
+            1263.723797833831,
+            31.226016106787334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1877.3804212333291,
+            1266.3218740451844,
+            31.226016106787334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1875.8804212333291,
+            1268.9199502565377,
+            31.226016106787334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1874.3804212333291,
+            1271.518026467891,
+            31.226016106787334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1872.8804212333291,
+            1274.1161026792445,
+            31.226016106787334
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1871.3804212333291,
+            1276.7141788905979,
+            31.226016106787334
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1871.3804212333291,
+            1276.7141788905979,
+            28.226016106787334
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1871.3804212333291,
+            1276.7141788905979,
+            25.226016106787334
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            1871.3804212333291,
+            1276.7141788905979,
+            22.226016106787334
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            1871.3804212333291,
+            1276.7141788905979,
+            19.226016106787334
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            1871.3804212333291,
+            1276.7141788905979,
+            16.226016106787334
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            1871.3804212333291,
+            1276.7141788905979,
+            13.226016106787334
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            1871.3804212333291,
+            1276.7141788905979,
+            10.226016106787334
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            1871.3804212333291,
+            1276.7141788905979,
+            7.226016106787334
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            1871.3804212333291,
+            1276.7141788905979,
+            4.226016106787334
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            1871.3804212333291,
+            1276.7141788905979,
+            1.226016106787334
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "arched windows",
+        "position": [
+            1846.55,
+            1298.96547,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_23-24-35_1158381494/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_23-24-35_1158381494/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..53425e73bd8bb288da420da1d5738da6a308805a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_23-24-35_1158381494/pose.jsonl
@@ -0,0 +1,587 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            11.54659543285294,
+            1937.5205749696402,
+            1.9044273051080438
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            11.54659543285294,
+            1937.5205749696402,
+            4.904427305108044
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            11.54659543285294,
+            1937.5205749696402,
+            7.904427305108044
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            11.54659543285294,
+            1937.5205749696402,
+            10.904427305108044
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            11.54659543285294,
+            1937.5205749696402,
+            13.904427305108044
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            11.54659543285294,
+            1937.5205749696402,
+            16.904427305108044
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            11.54659543285294,
+            1937.5205749696402,
+            19.904427305108044
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            11.54659543285294,
+            1937.5205749696402,
+            22.904427305108044
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            11.54659543285294,
+            1937.5205749696402,
+            25.904427305108044
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            11.54659543285294,
+            1937.5205749696402,
+            28.904427305108044
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            11.54659543285294,
+            1937.5205749696402,
+            31.904427305108044
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            11.54659543285294,
+            1937.5205749696402,
+            34.904427305108044
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            11.54659543285294,
+            1937.5205749696402,
+            37.904427305108044
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            11.54659543285294,
+            1937.5205749696402,
+            40.904427305108044
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            11.54659543285294,
+            1937.5205749696402,
+            43.904427305108044
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            11.54659543285294,
+            1937.5205749696402,
+            46.904427305108044
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            11.54659543285294,
+            1937.5205749696402,
+            49.904427305108044
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            11.54659543285294,
+            1937.5205749696402,
+            52.904427305108044
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            11.54659543285294,
+            1937.5205749696402,
+            55.904427305108044
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            11.54659543285294,
+            1937.5205749696402,
+            58.904427305108044
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            8.948519221499623,
+            1939.0205749696402,
+            58.904427305108044
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            6.350443010146307,
+            1940.5205749696402,
+            58.904427305108044
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            3.752366798792991,
+            1942.0205749696402,
+            58.904427305108044
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1.1542905874396752,
+            1943.5205749696402,
+            58.904427305108044
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1.4437856239136408,
+            1945.0205749696402,
+            58.904427305108044
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1.4437856239136408,
+            1945.0205749696402,
+            55.904427305108044
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1.4437856239136408,
+            1945.0205749696402,
+            52.904427305108044
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1.4437856239136408,
+            1945.0205749696402,
+            49.904427305108044
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1.4437856239136408,
+            1945.0205749696402,
+            46.904427305108044
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1.4437856239136408,
+            1945.0205749696402,
+            43.904427305108044
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1.4437856239136408,
+            1945.0205749696402,
+            40.904427305108044
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1.4437856239136408,
+            1945.0205749696402,
+            37.904427305108044
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1.4437856239136408,
+            1945.0205749696402,
+            34.904427305108044
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1.4437856239136408,
+            1945.0205749696402,
+            31.904427305108044
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1.4437856239136408,
+            1945.0205749696402,
+            28.904427305108044
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1.4437856239136408,
+            1945.0205749696402,
+            25.904427305108044
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1.4437856239136408,
+            1945.0205749696402,
+            22.904427305108044
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1.4437856239136408,
+            1945.0205749696402,
+            19.904427305108044
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1.4437856239136408,
+            1945.0205749696402,
+            16.904427305108044
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1.4437856239136408,
+            1945.0205749696402,
+            13.904427305108044
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1.4437856239136408,
+            1945.0205749696402,
+            10.904427305108044
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1.4437856239136408,
+            1945.0205749696402,
+            7.904427305108044
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -1.4437856239136408,
+            1945.0205749696402,
+            4.904427305108044
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -1.4437856239136408,
+            1945.0205749696402,
+            1.9044273051080438
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "classical architectural elements",
+        "position": [
+            -85.36411,
+            1978.41875,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_23-40-2_820097487/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_23-40-2_820097487/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b12ad37327f05c6b29f434783d967c4e0b893747
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_23-40-2_820097487/pose.jsonl
@@ -0,0 +1,925 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -455.0569571556549,
+            1852.2572428960173,
+            1.9101765724588233
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -455.0569571556549,
+            1852.2572428960173,
+            4.910176572458823
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -455.0569571556549,
+            1852.2572428960173,
+            7.910176572458823
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -455.0569571556549,
+            1852.2572428960173,
+            10.910176572458823
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -455.0569571556549,
+            1852.2572428960173,
+            13.910176572458823
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -455.0569571556549,
+            1852.2572428960173,
+            16.910176572458823
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -455.0569571556549,
+            1852.2572428960173,
+            19.910176572458823
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -455.0569571556549,
+            1852.2572428960173,
+            22.910176572458823
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -455.0569571556549,
+            1852.2572428960173,
+            25.910176572458823
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -455.0569571556549,
+            1852.2572428960173,
+            28.910176572458823
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -455.0569571556549,
+            1852.2572428960173,
+            31.910176572458823
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -455.0569571556549,
+            1852.2572428960173,
+            34.91017657245882
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -455.0569571556549,
+            1852.2572428960173,
+            37.91017657245882
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -455.0569571556549,
+            1852.2572428960173,
+            40.91017657245882
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -455.0569571556549,
+            1852.2572428960173,
+            43.91017657245882
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -455.0569571556549,
+            1852.2572428960173,
+            46.91017657245882
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -455.0569571556549,
+            1852.2572428960173,
+            49.91017657245882
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -455.0569571556549,
+            1852.2572428960173,
+            52.91017657245882
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -455.0569571556549,
+            1852.2572428960173,
+            55.91017657245882
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -455.0569571556549,
+            1852.2572428960173,
+            58.91017657245882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -453.5569571556549,
+            1854.8553191073706,
+            58.91017657245882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -452.0569571556549,
+            1857.453395318724,
+            58.91017657245882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -450.5569571556549,
+            1860.0514715300774,
+            58.91017657245882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -449.0569571556549,
+            1862.6495477414308,
+            58.91017657245882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -447.5569571556549,
+            1865.2476239527841,
+            58.91017657245882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -446.0569571556549,
+            1867.8457001641375,
+            58.91017657245882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -444.5569571556549,
+            1870.4437763754909,
+            58.91017657245882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -443.0569571556549,
+            1873.0418525868442,
+            58.91017657245882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -441.5569571556549,
+            1875.6399287981976,
+            58.91017657245882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -440.0569571556549,
+            1878.238005009551,
+            58.91017657245882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -438.5569571556549,
+            1880.8360812209044,
+            58.91017657245882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -437.0569571556549,
+            1883.4341574322577,
+            58.91017657245882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -435.5569571556549,
+            1886.032233643611,
+            58.91017657245882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -434.0569571556549,
+            1888.6303098549645,
+            58.91017657245882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -432.5569571556549,
+            1891.2283860663179,
+            58.91017657245882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -431.0569571556549,
+            1893.8264622776712,
+            58.91017657245882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -429.5569571556549,
+            1896.4245384890246,
+            58.91017657245882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -428.0569571556549,
+            1899.022614700378,
+            58.91017657245882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -426.5569571556549,
+            1901.6206909117313,
+            58.91017657245882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -425.0569571556549,
+            1904.2187671230847,
+            58.91017657245882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -423.5569571556549,
+            1906.816843334438,
+            58.91017657245882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -422.0569571556549,
+            1909.4149195457915,
+            58.91017657245882
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -422.0569571556549,
+            1909.4149195457915,
+            58.91017657245882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -419.4588809443016,
+            1910.9149195457915,
+            58.91017657245882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -416.8608047329483,
+            1912.4149195457915,
+            58.91017657245882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -414.26272852159497,
+            1913.9149195457915,
+            58.91017657245882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -411.66465231024165,
+            1915.4149195457915,
+            58.91017657245882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -409.06657609888833,
+            1916.9149195457915,
+            58.91017657245882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -406.468499887535,
+            1918.4149195457915,
+            58.91017657245882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -403.8704236761817,
+            1919.9149195457915,
+            58.91017657245882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -401.2723474648284,
+            1921.4149195457915,
+            58.91017657245882
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -401.2723474648284,
+            1921.4149195457915,
+            55.91017657245882
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -401.2723474648284,
+            1921.4149195457915,
+            52.91017657245882
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -401.2723474648284,
+            1921.4149195457915,
+            49.91017657245882
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -401.2723474648284,
+            1921.4149195457915,
+            46.91017657245882
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -401.2723474648284,
+            1921.4149195457915,
+            43.91017657245882
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -401.2723474648284,
+            1921.4149195457915,
+            40.91017657245882
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 57,
+        "pos": [
+            -401.2723474648284,
+            1921.4149195457915,
+            37.91017657245882
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 58,
+        "pos": [
+            -401.2723474648284,
+            1921.4149195457915,
+            34.91017657245882
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 59,
+        "pos": [
+            -401.2723474648284,
+            1921.4149195457915,
+            31.910176572458823
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 60,
+        "pos": [
+            -401.2723474648284,
+            1921.4149195457915,
+            28.910176572458823
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 61,
+        "pos": [
+            -401.2723474648284,
+            1921.4149195457915,
+            25.910176572458823
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 62,
+        "pos": [
+            -401.2723474648284,
+            1921.4149195457915,
+            22.910176572458823
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 63,
+        "pos": [
+            -401.2723474648284,
+            1921.4149195457915,
+            19.910176572458823
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 64,
+        "pos": [
+            -401.2723474648284,
+            1921.4149195457915,
+            16.910176572458823
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 65,
+        "pos": [
+            -401.2723474648284,
+            1921.4149195457915,
+            13.910176572458823
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 66,
+        "pos": [
+            -401.2723474648284,
+            1921.4149195457915,
+            10.910176572458823
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 67,
+        "pos": [
+            -401.2723474648284,
+            1921.4149195457915,
+            7.910176572458823
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 68,
+        "pos": [
+            -401.2723474648284,
+            1921.4149195457915,
+            4.910176572458823
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 69,
+        "pos": [
+            -401.2723474648284,
+            1921.4149195457915,
+            1.9101765724588233
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "glass windows",
+        "position": [
+            -380.11578000000003,
+            1949.2546900000002,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_4-42-25_707900973/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_4-42-25_707900973/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..37e4d03d069e8f742f34d115f012298b12c7fadb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_4-42-25_707900973/pose.jsonl
@@ -0,0 +1,496 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            787.6521434797917,
+            -326.3659271166325,
+            2.014987015450423
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            787.6521434797917,
+            -326.3659271166325,
+            5.014987015450423
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            787.6521434797917,
+            -326.3659271166325,
+            8.014987015450423
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            787.6521434797917,
+            -326.3659271166325,
+            11.014987015450423
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            787.6521434797917,
+            -326.3659271166325,
+            14.014987015450423
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            787.6521434797917,
+            -326.3659271166325,
+            17.014987015450423
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            787.6521434797917,
+            -326.3659271166325,
+            20.014987015450423
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            787.6521434797917,
+            -326.3659271166325,
+            23.014987015450423
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            787.6521434797917,
+            -326.3659271166325,
+            26.014987015450423
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            787.6521434797917,
+            -326.3659271166325,
+            29.014987015450423
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            787.6521434797917,
+            -326.3659271166325,
+            32.01498701545042
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            787.6521434797917,
+            -326.3659271166325,
+            35.01498701545042
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            787.6521434797917,
+            -326.3659271166325,
+            38.01498701545042
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            787.6521434797917,
+            -326.3659271166325,
+            41.01498701545042
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            787.6521434797917,
+            -326.3659271166325,
+            44.01498701545042
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            787.6521434797917,
+            -326.3659271166325,
+            47.01498701545042
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            787.6521434797917,
+            -326.3659271166325,
+            50.01498701545042
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            787.6521434797917,
+            -326.3659271166325,
+            53.01498701545042
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            790.6521434797917,
+            -326.3659271166325,
+            53.01498701545042
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            793.6521434797917,
+            -326.3659271166325,
+            53.01498701545042
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            793.6521434797917,
+            -326.3659271166325,
+            50.01498701545042
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            793.6521434797917,
+            -326.3659271166325,
+            47.01498701545042
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            793.6521434797917,
+            -326.3659271166325,
+            44.01498701545042
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            793.6521434797917,
+            -326.3659271166325,
+            41.01498701545042
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            793.6521434797917,
+            -326.3659271166325,
+            38.01498701545042
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            793.6521434797917,
+            -326.3659271166325,
+            35.01498701545042
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            793.6521434797917,
+            -326.3659271166325,
+            32.01498701545042
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            793.6521434797917,
+            -326.3659271166325,
+            29.014987015450423
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            793.6521434797917,
+            -326.3659271166325,
+            26.014987015450423
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            793.6521434797917,
+            -326.3659271166325,
+            23.014987015450423
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            793.6521434797917,
+            -326.3659271166325,
+            20.014987015450423
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            793.6521434797917,
+            -326.3659271166325,
+            17.014987015450423
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            793.6521434797917,
+            -326.3659271166325,
+            14.014987015450423
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            793.6521434797917,
+            -326.3659271166325,
+            11.014987015450423
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            793.6521434797917,
+            -326.3659271166325,
+            8.014987015450423
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            793.6521434797917,
+            -326.3659271166325,
+            5.014987015450423
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            793.6521434797917,
+            -326.3659271166325,
+            2.014987015450423
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "grid-like facade",
+        "position": [
+            911.05336,
+            -318.09109,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_6-28-19_846811127/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_6-28-19_846811127/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9c6f7a5aac244cc3d85f8395d98047c900c8223d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_6-28-19_846811127/pose.jsonl
@@ -0,0 +1,522 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1055.2256293747291,
+            1739.1215850911422,
+            1.0257962594929353
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1055.2256293747291,
+            1739.1215850911422,
+            4.025796259492935
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1055.2256293747291,
+            1739.1215850911422,
+            7.025796259492935
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1055.2256293747291,
+            1739.1215850911422,
+            10.025796259492935
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1055.2256293747291,
+            1739.1215850911422,
+            13.025796259492935
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1055.2256293747291,
+            1739.1215850911422,
+            16.025796259492935
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1055.2256293747291,
+            1739.1215850911422,
+            19.025796259492935
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1055.2256293747291,
+            1739.1215850911422,
+            22.025796259492935
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1055.2256293747291,
+            1739.1215850911422,
+            25.025796259492935
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1055.2256293747291,
+            1739.1215850911422,
+            28.025796259492935
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1055.2256293747291,
+            1739.1215850911422,
+            31.025796259492935
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1055.2256293747291,
+            1739.1215850911422,
+            34.025796259492935
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1055.2256293747291,
+            1739.1215850911422,
+            37.025796259492935
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1055.2256293747291,
+            1739.1215850911422,
+            40.025796259492935
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1055.2256293747291,
+            1739.1215850911422,
+            43.025796259492935
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1055.2256293747291,
+            1739.1215850911422,
+            46.025796259492935
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1055.2256293747291,
+            1739.1215850911422,
+            49.025796259492935
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1055.2256293747291,
+            1739.1215850911422,
+            52.025796259492935
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1055.2256293747291,
+            1739.1215850911422,
+            55.025796259492935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1055.2256293747291,
+            1736.1215850911422,
+            55.025796259492935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1055.2256293747291,
+            1733.1215850911422,
+            55.025796259492935
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1055.2256293747291,
+            1733.1215850911422,
+            52.025796259492935
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1055.2256293747291,
+            1733.1215850911422,
+            49.025796259492935
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1055.2256293747291,
+            1733.1215850911422,
+            46.025796259492935
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1055.2256293747291,
+            1733.1215850911422,
+            43.025796259492935
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1055.2256293747291,
+            1733.1215850911422,
+            40.025796259492935
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1055.2256293747291,
+            1733.1215850911422,
+            37.025796259492935
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1055.2256293747291,
+            1733.1215850911422,
+            34.025796259492935
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1055.2256293747291,
+            1733.1215850911422,
+            31.025796259492935
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1055.2256293747291,
+            1733.1215850911422,
+            28.025796259492935
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1055.2256293747291,
+            1733.1215850911422,
+            25.025796259492935
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1055.2256293747291,
+            1733.1215850911422,
+            22.025796259492935
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1055.2256293747291,
+            1733.1215850911422,
+            19.025796259492935
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1055.2256293747291,
+            1733.1215850911422,
+            16.025796259492935
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1055.2256293747291,
+            1733.1215850911422,
+            13.025796259492935
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1055.2256293747291,
+            1733.1215850911422,
+            10.025796259492935
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1055.2256293747291,
+            1733.1215850911422,
+            7.025796259492935
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1055.2256293747291,
+            1733.1215850911422,
+            4.025796259492935
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1055.2256293747291,
+            1733.1215850911422,
+            1.0257962594929353
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "arched windows",
+        "position": [
+            1080.3829700000001,
+            1594.3085899999999,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_10-11-8_461152493/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_10-11-8_461152493/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a46fc628d0b6970e5fe4a68be70bc635d400e275
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_10-11-8_461152493/pose.jsonl
@@ -0,0 +1,691 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1928.8563467820477,
+            1119.5898721193616,
+            0.6099881457538174
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1928.8563467820477,
+            1119.5898721193616,
+            3.6099881457538174
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1928.8563467820477,
+            1119.5898721193616,
+            6.609988145753817
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1928.8563467820477,
+            1119.5898721193616,
+            9.609988145753817
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1928.8563467820477,
+            1119.5898721193616,
+            12.609988145753817
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1928.8563467820477,
+            1119.5898721193616,
+            15.609988145753817
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1928.8563467820477,
+            1119.5898721193616,
+            18.609988145753817
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1928.8563467820477,
+            1119.5898721193616,
+            21.609988145753817
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1928.8563467820477,
+            1119.5898721193616,
+            24.609988145753817
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1928.8563467820477,
+            1119.5898721193616,
+            27.609988145753817
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1928.8563467820477,
+            1119.5898721193616,
+            30.609988145753817
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1928.8563467820477,
+            1119.5898721193616,
+            33.60998814575382
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1928.8563467820477,
+            1119.5898721193616,
+            36.60998814575382
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1928.8563467820477,
+            1119.5898721193616,
+            39.60998814575382
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1928.8563467820477,
+            1119.5898721193616,
+            42.60998814575382
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1928.8563467820477,
+            1119.5898721193616,
+            45.60998814575382
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1926.2582705706943,
+            1121.0898721193616,
+            45.60998814575382
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1923.660194359341,
+            1122.5898721193616,
+            45.60998814575382
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1921.0621181479876,
+            1124.0898721193616,
+            45.60998814575382
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1918.4640419366342,
+            1125.5898721193616,
+            45.60998814575382
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1915.8659657252808,
+            1127.0898721193616,
+            45.60998814575382
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1913.2678895139275,
+            1128.5898721193616,
+            45.60998814575382
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1910.669813302574,
+            1130.0898721193616,
+            45.60998814575382
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1908.0717370912207,
+            1131.5898721193616,
+            45.60998814575382
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1905.4736608798673,
+            1133.0898721193616,
+            45.60998814575382
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1902.875584668514,
+            1134.5898721193616,
+            45.60998814575382
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1900.2775084571606,
+            1136.0898721193616,
+            45.60998814575382
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1900.2775084571606,
+            1136.0898721193616,
+            45.60998814575382
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1897.2775084571606,
+            1136.0898721193616,
+            45.60998814575382
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1894.2775084571606,
+            1136.0898721193616,
+            45.60998814575382
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1891.2775084571606,
+            1136.0898721193616,
+            45.60998814575382
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1888.2775084571606,
+            1136.0898721193616,
+            45.60998814575382
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1885.2775084571606,
+            1136.0898721193616,
+            45.60998814575382
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1882.2775084571606,
+            1136.0898721193616,
+            45.60998814575382
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1879.2775084571606,
+            1136.0898721193616,
+            45.60998814575382
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1876.2775084571606,
+            1136.0898721193616,
+            45.60998814575382
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1873.2775084571606,
+            1136.0898721193616,
+            45.60998814575382
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1873.2775084571606,
+            1136.0898721193616,
+            42.60998814575382
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1873.2775084571606,
+            1136.0898721193616,
+            39.60998814575382
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1873.2775084571606,
+            1136.0898721193616,
+            36.60998814575382
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1873.2775084571606,
+            1136.0898721193616,
+            33.60998814575382
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1873.2775084571606,
+            1136.0898721193616,
+            30.609988145753817
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1873.2775084571606,
+            1136.0898721193616,
+            27.609988145753817
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1873.2775084571606,
+            1136.0898721193616,
+            24.609988145753817
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1873.2775084571606,
+            1136.0898721193616,
+            21.609988145753817
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1873.2775084571606,
+            1136.0898721193616,
+            18.609988145753817
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1873.2775084571606,
+            1136.0898721193616,
+            15.609988145753817
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1873.2775084571606,
+            1136.0898721193616,
+            12.609988145753817
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1873.2775084571606,
+            1136.0898721193616,
+            9.609988145753817
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1873.2775084571606,
+            1136.0898721193616,
+            6.609988145753817
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1873.2775084571606,
+            1136.0898721193616,
+            3.6099881457538174
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            1873.2775084571606,
+            1136.0898721193616,
+            0.6099881457538174
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "red",
+        "feature": "ornate detailing",
+        "position": [
+            1823.915,
+            1154.54594,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_13-54-6_750679664/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_13-54-6_750679664/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ce0820a2c69e2419d8a1659870a9a68adbecda55
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_13-54-6_750679664/pose.jsonl
@@ -0,0 +1,561 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            688.258415655134,
+            -884.2791730493485,
+            0.333085982502368
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            688.258415655134,
+            -884.2791730493485,
+            3.333085982502368
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            688.258415655134,
+            -884.2791730493485,
+            6.333085982502368
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            688.258415655134,
+            -884.2791730493485,
+            9.333085982502368
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            688.258415655134,
+            -884.2791730493485,
+            12.333085982502368
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            688.258415655134,
+            -884.2791730493485,
+            15.333085982502368
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            688.258415655134,
+            -884.2791730493485,
+            18.333085982502368
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            688.258415655134,
+            -884.2791730493485,
+            21.333085982502368
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            688.258415655134,
+            -884.2791730493485,
+            24.333085982502368
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            688.258415655134,
+            -884.2791730493485,
+            27.333085982502368
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            688.258415655134,
+            -884.2791730493485,
+            30.333085982502368
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            688.258415655134,
+            -884.2791730493485,
+            33.33308598250237
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            688.258415655134,
+            -884.2791730493485,
+            36.33308598250237
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            688.258415655134,
+            -884.2791730493485,
+            39.33308598250237
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            688.258415655134,
+            -884.2791730493485,
+            42.33308598250237
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            688.258415655134,
+            -884.2791730493485,
+            45.33308598250237
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            688.258415655134,
+            -884.2791730493485,
+            48.33308598250237
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            688.258415655134,
+            -884.2791730493485,
+            51.33308598250237
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            688.258415655134,
+            -884.2791730493485,
+            54.33308598250237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            686.758415655134,
+            -881.6810968379953,
+            54.33308598250237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            685.258415655134,
+            -879.0830206266419,
+            54.33308598250237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            683.758415655134,
+            -876.4849444152885,
+            54.33308598250237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            682.258415655134,
+            -873.8868682039351,
+            54.33308598250237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            680.758415655134,
+            -871.2887919925818,
+            54.33308598250237
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            680.758415655134,
+            -871.2887919925818,
+            51.33308598250237
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            680.758415655134,
+            -871.2887919925818,
+            48.33308598250237
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            680.758415655134,
+            -871.2887919925818,
+            45.33308598250237
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            680.758415655134,
+            -871.2887919925818,
+            42.33308598250237
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            680.758415655134,
+            -871.2887919925818,
+            39.33308598250237
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            680.758415655134,
+            -871.2887919925818,
+            36.33308598250237
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            680.758415655134,
+            -871.2887919925818,
+            33.33308598250237
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            680.758415655134,
+            -871.2887919925818,
+            30.333085982502368
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            680.758415655134,
+            -871.2887919925818,
+            27.333085982502368
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            680.758415655134,
+            -871.2887919925818,
+            24.333085982502368
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            680.758415655134,
+            -871.2887919925818,
+            21.333085982502368
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            680.758415655134,
+            -871.2887919925818,
+            18.333085982502368
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            680.758415655134,
+            -871.2887919925818,
+            15.333085982502368
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            680.758415655134,
+            -871.2887919925818,
+            12.333085982502368
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            680.758415655134,
+            -871.2887919925818,
+            9.333085982502368
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            680.758415655134,
+            -871.2887919925818,
+            6.333085982502368
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            680.758415655134,
+            -871.2887919925818,
+            3.333085982502368
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            680.758415655134,
+            -871.2887919925818,
+            0.333085982502368
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "dark",
+        "feature": "glass facade",
+        "position": [
+            617.9946100000001,
+            -777.91133,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_14-19-18_263419017/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_14-19-18_263419017/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..55eff241716021029192d41f1e31e74362c1e4d6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_14-19-18_263419017/pose.jsonl
@@ -0,0 +1,483 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -917.1764326831066,
+            1844.541553282287,
+            1.160645230202185
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -917.1764326831066,
+            1844.541553282287,
+            4.160645230202185
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -917.1764326831066,
+            1844.541553282287,
+            7.160645230202185
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -917.1764326831066,
+            1844.541553282287,
+            10.160645230202185
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -917.1764326831066,
+            1844.541553282287,
+            13.160645230202185
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -917.1764326831066,
+            1844.541553282287,
+            16.160645230202185
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -917.1764326831066,
+            1844.541553282287,
+            19.160645230202185
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -917.1764326831066,
+            1844.541553282287,
+            22.160645230202185
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -917.1764326831066,
+            1844.541553282287,
+            25.160645230202185
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -917.1764326831066,
+            1844.541553282287,
+            28.160645230202185
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -917.1764326831066,
+            1844.541553282287,
+            31.160645230202185
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -914.5783564717533,
+            1846.041553282287,
+            31.160645230202185
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -914.5783564717533,
+            1846.041553282287,
+            31.160645230202185
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -913.0783564717533,
+            1848.6396294936403,
+            31.160645230202185
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -911.5783564717533,
+            1851.2377057049937,
+            31.160645230202185
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -911.5783564717533,
+            1851.2377057049937,
+            31.160645230202185
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -908.9802802603999,
+            1852.7377057049937,
+            31.160645230202185
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -906.3822040490465,
+            1854.2377057049937,
+            31.160645230202185
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -903.7841278376932,
+            1855.7377057049937,
+            31.160645230202185
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -901.1860516263398,
+            1857.2377057049937,
+            31.160645230202185
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -898.5879754149864,
+            1858.7377057049937,
+            31.160645230202185
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -895.9898992036331,
+            1860.2377057049937,
+            31.160645230202185
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -893.3918229922797,
+            1861.7377057049937,
+            31.160645230202185
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -890.7937467809263,
+            1863.2377057049937,
+            31.160645230202185
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -888.1956705695729,
+            1864.7377057049937,
+            31.160645230202185
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -885.5975943582196,
+            1866.2377057049937,
+            31.160645230202185
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -885.5975943582196,
+            1866.2377057049937,
+            28.160645230202185
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -885.5975943582196,
+            1866.2377057049937,
+            25.160645230202185
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -885.5975943582196,
+            1866.2377057049937,
+            22.160645230202185
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -885.5975943582196,
+            1866.2377057049937,
+            19.160645230202185
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -885.5975943582196,
+            1866.2377057049937,
+            16.160645230202185
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -885.5975943582196,
+            1866.2377057049937,
+            13.160645230202185
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -885.5975943582196,
+            1866.2377057049937,
+            10.160645230202185
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -885.5975943582196,
+            1866.2377057049937,
+            7.160645230202185
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -885.5975943582196,
+            1866.2377057049937,
+            4.160645230202185
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -885.5975943582196,
+            1866.2377057049937,
+            1.160645230202185
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "ornate detailing",
+        "position": [
+            -832.1707799999999,
+            1899.44344,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-32-15_442982639/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-32-15_442982639/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fff8e00ced58321e752582c1aa6904d4cc302747
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-32-15_442982639/pose.jsonl
@@ -0,0 +1,392 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1049.0138780561556,
+            902.3107935269435,
+            0.5954354952908076
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1049.0138780561556,
+            902.3107935269435,
+            3.5954354952908076
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1049.0138780561556,
+            902.3107935269435,
+            6.595435495290808
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1049.0138780561556,
+            902.3107935269435,
+            9.595435495290808
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1049.0138780561556,
+            902.3107935269435,
+            12.595435495290808
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1049.0138780561556,
+            902.3107935269435,
+            15.595435495290808
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1049.0138780561556,
+            902.3107935269435,
+            18.595435495290808
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1049.0138780561556,
+            902.3107935269435,
+            21.595435495290808
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1049.0138780561556,
+            902.3107935269435,
+            24.595435495290808
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1049.0138780561556,
+            902.3107935269435,
+            27.595435495290808
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1049.0138780561556,
+            902.3107935269435,
+            30.595435495290808
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1049.0138780561556,
+            902.3107935269435,
+            33.59543549529081
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1049.0138780561556,
+            902.3107935269435,
+            36.59543549529081
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1052.0138780561556,
+            902.3107935269435,
+            36.59543549529081
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1052.0138780561556,
+            902.3107935269435,
+            36.59543549529081
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1054.611954267509,
+            900.8107935269435,
+            36.59543549529081
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1057.2100304788623,
+            899.3107935269435,
+            36.59543549529081
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1057.2100304788623,
+            899.3107935269435,
+            33.59543549529081
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1057.2100304788623,
+            899.3107935269435,
+            30.595435495290808
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1057.2100304788623,
+            899.3107935269435,
+            27.595435495290808
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1057.2100304788623,
+            899.3107935269435,
+            24.595435495290808
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1057.2100304788623,
+            899.3107935269435,
+            21.595435495290808
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1057.2100304788623,
+            899.3107935269435,
+            18.595435495290808
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1057.2100304788623,
+            899.3107935269435,
+            15.595435495290808
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1057.2100304788623,
+            899.3107935269435,
+            12.595435495290808
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1057.2100304788623,
+            899.3107935269435,
+            9.595435495290808
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1057.2100304788623,
+            899.3107935269435,
+            6.595435495290808
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1057.2100304788623,
+            899.3107935269435,
+            3.5954354952908076
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1057.2100304788623,
+            899.3107935269435,
+            0.5954354952908076
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "arched windows",
+        "position": [
+            1167.68273,
+            866.45688,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-42-9_1153263590/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-42-9_1153263590/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2d6e021e69e61fde434b3d829b6538de92815b5a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-42-9_1153263590/pose.jsonl
@@ -0,0 +1,626 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1885.4094717592116,
+            1290.726335289488,
+            2.0540057164242427
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1885.4094717592116,
+            1290.726335289488,
+            5.054005716424243
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1885.4094717592116,
+            1290.726335289488,
+            8.054005716424243
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1885.4094717592116,
+            1290.726335289488,
+            11.054005716424243
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1885.4094717592116,
+            1290.726335289488,
+            14.054005716424243
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1885.4094717592116,
+            1290.726335289488,
+            17.054005716424243
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1885.4094717592116,
+            1290.726335289488,
+            20.054005716424243
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1885.4094717592116,
+            1290.726335289488,
+            23.054005716424243
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1885.4094717592116,
+            1290.726335289488,
+            26.054005716424243
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1885.4094717592116,
+            1290.726335289488,
+            29.054005716424243
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1885.4094717592116,
+            1290.726335289488,
+            32.05400571642424
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1885.4094717592116,
+            1290.726335289488,
+            35.05400571642424
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1885.4094717592116,
+            1290.726335289488,
+            38.05400571642424
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1885.4094717592116,
+            1290.726335289488,
+            41.05400571642424
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1885.4094717592116,
+            1290.726335289488,
+            44.05400571642424
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1885.4094717592116,
+            1290.726335289488,
+            47.05400571642424
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1885.4094717592116,
+            1290.726335289488,
+            50.05400571642424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1883.9094717592116,
+            1293.3244115008413,
+            50.05400571642424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1882.4094717592116,
+            1295.9224877121947,
+            50.05400571642424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1880.9094717592116,
+            1298.520563923548,
+            50.05400571642424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1879.4094717592116,
+            1301.1186401349014,
+            50.05400571642424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1877.9094717592116,
+            1303.7167163462548,
+            50.05400571642424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1876.4094717592116,
+            1306.3147925576081,
+            50.05400571642424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1874.9094717592116,
+            1308.9128687689615,
+            50.05400571642424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1873.4094717592116,
+            1311.510944980315,
+            50.05400571642424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1871.9094717592116,
+            1314.1090211916683,
+            50.05400571642424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1870.4094717592116,
+            1316.7070974030216,
+            50.05400571642424
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1870.4094717592116,
+            1316.7070974030216,
+            50.05400571642424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1870.4094717592116,
+            1319.7070974030216,
+            50.05400571642424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1870.4094717592116,
+            1322.7070974030216,
+            50.05400571642424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1870.4094717592116,
+            1325.7070974030216,
+            50.05400571642424
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1870.4094717592116,
+            1325.7070974030216,
+            47.05400571642424
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1870.4094717592116,
+            1325.7070974030216,
+            44.05400571642424
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1870.4094717592116,
+            1325.7070974030216,
+            41.05400571642424
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1870.4094717592116,
+            1325.7070974030216,
+            38.05400571642424
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1870.4094717592116,
+            1325.7070974030216,
+            35.05400571642424
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1870.4094717592116,
+            1325.7070974030216,
+            32.05400571642424
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1870.4094717592116,
+            1325.7070974030216,
+            29.054005716424243
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1870.4094717592116,
+            1325.7070974030216,
+            26.054005716424243
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1870.4094717592116,
+            1325.7070974030216,
+            23.054005716424243
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1870.4094717592116,
+            1325.7070974030216,
+            20.054005716424243
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1870.4094717592116,
+            1325.7070974030216,
+            17.054005716424243
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1870.4094717592116,
+            1325.7070974030216,
+            14.054005716424243
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1870.4094717592116,
+            1325.7070974030216,
+            11.054005716424243
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1870.4094717592116,
+            1325.7070974030216,
+            8.054005716424243
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1870.4094717592116,
+            1325.7070974030216,
+            5.054005716424243
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1870.4094717592116,
+            1325.7070974030216,
+            2.0540057164242427
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "beige",
+        "feature": "ornate",
+        "position": [
+            1826.51078,
+            1427.22797,
+            8.7
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_16-5-13_1245036421/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_16-5-13_1245036421/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4c995b6d77cb5ee07fd8776ca538a239e63ffdeb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_16-5-13_1245036421/pose.jsonl
@@ -0,0 +1,340 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1922.46675414712,
+            723.6779176699506,
+            2.5163498085687763
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1922.46675414712,
+            723.6779176699506,
+            5.516349808568776
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1922.46675414712,
+            723.6779176699506,
+            8.516349808568776
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1922.46675414712,
+            723.6779176699506,
+            11.516349808568776
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1922.46675414712,
+            723.6779176699506,
+            14.516349808568776
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1922.46675414712,
+            723.6779176699506,
+            17.516349808568776
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1922.46675414712,
+            723.6779176699506,
+            20.516349808568776
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1922.46675414712,
+            723.6779176699506,
+            23.516349808568776
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1922.46675414712,
+            723.6779176699506,
+            26.516349808568776
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1922.46675414712,
+            723.6779176699506,
+            29.516349808568776
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1922.46675414712,
+            723.6779176699506,
+            32.516349808568776
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1922.46675414712,
+            723.6779176699506,
+            35.516349808568776
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1923.96675414712,
+            726.275993881304,
+            35.516349808568776
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1925.46675414712,
+            728.8740700926573,
+            35.516349808568776
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1925.46675414712,
+            728.8740700926573,
+            32.516349808568776
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1925.46675414712,
+            728.8740700926573,
+            29.516349808568776
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1925.46675414712,
+            728.8740700926573,
+            26.516349808568776
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1925.46675414712,
+            728.8740700926573,
+            23.516349808568776
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1925.46675414712,
+            728.8740700926573,
+            20.516349808568776
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1925.46675414712,
+            728.8740700926573,
+            17.516349808568776
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1925.46675414712,
+            728.8740700926573,
+            14.516349808568776
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1925.46675414712,
+            728.8740700926573,
+            11.516349808568776
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1925.46675414712,
+            728.8740700926573,
+            8.516349808568776
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1925.46675414712,
+            728.8740700926573,
+            5.516349808568776
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1925.46675414712,
+            728.8740700926573,
+            2.5163498085687763
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "large black opening",
+        "position": [
+            -1972.1735899999999,
+            864.20406,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_16-8-0_30387226/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_16-8-0_30387226/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8d22c75b43412454202835d9e32c5e83a1e204c2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_16-8-0_30387226/pose.jsonl
@@ -0,0 +1,756 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1814.4116648851425,
+            972.0345642539439,
+            0.5295434334649016
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1814.4116648851425,
+            972.0345642539439,
+            3.5295434334649016
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1814.4116648851425,
+            972.0345642539439,
+            6.529543433464902
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1814.4116648851425,
+            972.0345642539439,
+            9.529543433464902
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1814.4116648851425,
+            972.0345642539439,
+            12.529543433464902
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1814.4116648851425,
+            972.0345642539439,
+            15.529543433464902
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1814.4116648851425,
+            972.0345642539439,
+            18.5295434334649
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1814.4116648851425,
+            972.0345642539439,
+            21.5295434334649
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1814.4116648851425,
+            972.0345642539439,
+            24.5295434334649
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1814.4116648851425,
+            972.0345642539439,
+            27.5295434334649
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1814.4116648851425,
+            972.0345642539439,
+            30.5295434334649
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1814.4116648851425,
+            972.0345642539439,
+            33.5295434334649
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1814.4116648851425,
+            972.0345642539439,
+            36.5295434334649
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1811.8135886737891,
+            973.5345642539439,
+            36.5295434334649
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1809.2155124624358,
+            975.0345642539439,
+            36.5295434334649
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1806.6174362510824,
+            976.5345642539439,
+            36.5295434334649
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1804.019360039729,
+            978.0345642539439,
+            36.5295434334649
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1801.4212838283756,
+            979.5345642539439,
+            36.5295434334649
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1798.8232076170223,
+            981.0345642539439,
+            36.5295434334649
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1796.225131405669,
+            982.5345642539439,
+            36.5295434334649
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1793.6270551943155,
+            984.0345642539439,
+            36.5295434334649
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1791.0289789829621,
+            985.5345642539439,
+            36.5295434334649
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1788.4309027716088,
+            987.0345642539439,
+            36.5295434334649
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1785.8328265602554,
+            988.5345642539439,
+            36.5295434334649
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1783.234750348902,
+            990.0345642539439,
+            36.5295434334649
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1780.6366741375487,
+            991.5345642539439,
+            36.5295434334649
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1778.0385979261953,
+            993.0345642539439,
+            36.5295434334649
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1775.440521714842,
+            994.5345642539439,
+            36.5295434334649
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1772.8424455034885,
+            996.0345642539439,
+            36.5295434334649
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1770.2443692921352,
+            997.5345642539439,
+            36.5295434334649
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1767.6462930807818,
+            999.0345642539439,
+            36.5295434334649
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1765.0482168694284,
+            1000.5345642539439,
+            36.5295434334649
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1762.450140658075,
+            1002.0345642539439,
+            36.5295434334649
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1759.8520644467217,
+            1003.5345642539439,
+            36.5295434334649
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1757.2539882353683,
+            1005.0345642539439,
+            36.5295434334649
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1754.655912024015,
+            1006.5345642539439,
+            36.5295434334649
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1752.0578358126616,
+            1008.0345642539439,
+            36.5295434334649
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1749.4597596013082,
+            1009.5345642539439,
+            36.5295434334649
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1746.8616833899548,
+            1011.0345642539439,
+            36.5295434334649
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1744.2636071786014,
+            1012.5345642539439,
+            36.5295434334649
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1741.665530967248,
+            1014.0345642539439,
+            36.5295434334649
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1739.0674547558947,
+            1015.5345642539439,
+            36.5295434334649
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -1736.4693785445413,
+            1017.0345642539439,
+            36.5295434334649
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -1733.871302333188,
+            1018.5345642539439,
+            36.5295434334649
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -1731.2732261218346,
+            1020.0345642539439,
+            36.5295434334649
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -1731.2732261218346,
+            1020.0345642539439,
+            33.5295434334649
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -1731.2732261218346,
+            1020.0345642539439,
+            30.5295434334649
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -1731.2732261218346,
+            1020.0345642539439,
+            27.5295434334649
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -1731.2732261218346,
+            1020.0345642539439,
+            24.5295434334649
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -1731.2732261218346,
+            1020.0345642539439,
+            21.5295434334649
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -1731.2732261218346,
+            1020.0345642539439,
+            18.5295434334649
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -1731.2732261218346,
+            1020.0345642539439,
+            15.529543433464902
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -1731.2732261218346,
+            1020.0345642539439,
+            12.529543433464902
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -1731.2732261218346,
+            1020.0345642539439,
+            9.529543433464902
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -1731.2732261218346,
+            1020.0345642539439,
+            6.529543433464902
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -1731.2732261218346,
+            1020.0345642539439,
+            3.5295434334649016
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 56,
+        "pos": [
+            -1731.2732261218346,
+            1020.0345642539439,
+            0.5295434334649016
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "beige",
+        "feature": "classical architectural elements",
+        "position": [
+            -1692.8257800000001,
+            1040.70523,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_17-29-50_1364180570/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_17-29-50_1364180570/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0742366707fbea6b134b9782306be09dda3d6e8d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_17-29-50_1364180570/pose.jsonl
@@ -0,0 +1,691 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1703.1575942633765,
+            366.6005797471224,
+            1.1903055585616045
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1703.1575942633765,
+            366.6005797471224,
+            4.1903055585616045
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1703.1575942633765,
+            366.6005797471224,
+            7.1903055585616045
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1703.1575942633765,
+            366.6005797471224,
+            10.190305558561604
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1703.1575942633765,
+            366.6005797471224,
+            13.190305558561604
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1703.1575942633765,
+            366.6005797471224,
+            16.190305558561604
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1703.1575942633765,
+            366.6005797471224,
+            19.190305558561604
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1703.1575942633765,
+            366.6005797471224,
+            22.190305558561604
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1703.1575942633765,
+            366.6005797471224,
+            25.190305558561604
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1703.1575942633765,
+            366.6005797471224,
+            28.190305558561604
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1703.1575942633765,
+            366.6005797471224,
+            31.190305558561604
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1703.1575942633765,
+            366.6005797471224,
+            34.190305558561604
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1703.1575942633765,
+            366.6005797471224,
+            37.190305558561604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1700.1575942633765,
+            366.6005797471224,
+            37.190305558561604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1697.1575942633765,
+            366.6005797471224,
+            37.190305558561604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1694.1575942633765,
+            366.6005797471224,
+            37.190305558561604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1691.1575942633765,
+            366.6005797471224,
+            37.190305558561604
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1691.1575942633765,
+            366.6005797471224,
+            37.190305558561604
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1691.1575942633765,
+            366.6005797471224,
+            37.190305558561604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1689.6575942633765,
+            369.19865595847574,
+            37.190305558561604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1688.1575942633765,
+            371.79673216982906,
+            37.190305558561604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1686.6575942633765,
+            374.3948083811824,
+            37.190305558561604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1685.1575942633765,
+            376.9928845925357,
+            37.190305558561604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1683.6575942633765,
+            379.590960803889,
+            37.190305558561604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1682.1575942633765,
+            382.1890370152423,
+            37.190305558561604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1680.6575942633765,
+            384.78711322659564,
+            37.190305558561604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1679.1575942633765,
+            387.38518943794895,
+            37.190305558561604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1677.6575942633765,
+            389.98326564930227,
+            37.190305558561604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1676.1575942633765,
+            392.5813418606556,
+            37.190305558561604
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1676.1575942633765,
+            392.5813418606556,
+            37.190305558561604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1673.5595180520231,
+            394.0813418606556,
+            37.190305558561604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1670.9614418406697,
+            395.5813418606556,
+            37.190305558561604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1668.3633656293164,
+            397.0813418606556,
+            37.190305558561604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1665.765289417963,
+            398.5813418606556,
+            37.190305558561604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1663.1672132066096,
+            400.0813418606556,
+            37.190305558561604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1660.5691369952563,
+            401.5813418606556,
+            37.190305558561604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1657.9710607839029,
+            403.0813418606556,
+            37.190305558561604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1655.3729845725495,
+            404.5813418606556,
+            37.190305558561604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1652.7749083611961,
+            406.0813418606556,
+            37.190305558561604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1650.1768321498428,
+            407.5813418606556,
+            37.190305558561604
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1650.1768321498428,
+            407.5813418606556,
+            34.190305558561604
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1650.1768321498428,
+            407.5813418606556,
+            31.190305558561604
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -1650.1768321498428,
+            407.5813418606556,
+            28.190305558561604
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -1650.1768321498428,
+            407.5813418606556,
+            25.190305558561604
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -1650.1768321498428,
+            407.5813418606556,
+            22.190305558561604
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -1650.1768321498428,
+            407.5813418606556,
+            19.190305558561604
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -1650.1768321498428,
+            407.5813418606556,
+            16.190305558561604
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -1650.1768321498428,
+            407.5813418606556,
+            13.190305558561604
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -1650.1768321498428,
+            407.5813418606556,
+            10.190305558561604
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -1650.1768321498428,
+            407.5813418606556,
+            7.1903055585616045
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -1650.1768321498428,
+            407.5813418606556,
+            4.1903055585616045
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -1650.1768321498428,
+            407.5813418606556,
+            1.1903055585616045
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "beige",
+        "feature": "arched windows",
+        "position": [
+            -1593.06172,
+            457.20441,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}