diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-8_20-21-34_1780695788/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_20-21-34_1780695788/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2190b6b31b42e5afa3785a2763b8644c24075fe4
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_20-21-34_1780695788/pose.jsonl
@@ -0,0 +1,327 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1487.4445316293795,
+            -100.73752546639477,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1488.9445316293795,
+            -103.33560167774809,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1490.4445316293795,
+            -105.9336778891014,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1491.9445316293795,
+            -108.53175410045472,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1493.4445316293795,
+            -111.12983031180804,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1494.9445316293795,
+            -113.72790652316135,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1496.4445316293795,
+            -116.32598273451467,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1497.9445316293795,
+            -118.92405894586798,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1499.4445316293795,
+            -121.5221351572213,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1500.9445316293795,
+            -124.12021136857462,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1502.4445316293795,
+            -126.71828757992793,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1503.9445316293795,
+            -129.31636379128125,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1505.4445316293795,
+            -131.91444000263456,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1506.9445316293795,
+            -134.51251621398788,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1508.4445316293795,
+            -137.1105924253412,
+            -14.030541685236908
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1508.4445316293795,
+            -137.1105924253412,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1511.042607840733,
+            -138.6105924253412,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1513.6406840520863,
+            -140.1105924253412,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1516.2387602634396,
+            -141.6105924253412,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1518.836836474793,
+            -143.1105924253412,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1521.4349126861464,
+            -144.6105924253412,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1524.0329888974998,
+            -146.1105924253412,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1526.6310651088531,
+            -147.6105924253412,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1529.2291413202065,
+            -149.1105924253412,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1548.0,
+            -168.0,
+            5.86359
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-8_20-21-48_709393584/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_20-21-48_709393584/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..950fafda5c4f32ad31910045db56377d7540e277
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_20-21-48_709393584/pose.jsonl
@@ -0,0 +1,327 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1330.2246139473248,
+            446.8799986262309,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1333.2246139473248,
+            446.8799986262309,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1336.2246139473248,
+            446.8799986262309,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1339.2246139473248,
+            446.8799986262309,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1342.2246139473248,
+            446.8799986262309,
+            -14.030541685236908
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1342.2246139473248,
+            446.8799986262309,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1344.8226901586781,
+            448.3799986262309,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1347.4207663700315,
+            449.8799986262309,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1350.018842581385,
+            451.3799986262309,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1352.6169187927383,
+            452.8799986262309,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1355.2149950040916,
+            454.3799986262309,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1357.813071215445,
+            455.8799986262309,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1360.4111474267984,
+            457.3799986262309,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1363.0092236381518,
+            458.8799986262309,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1365.6072998495051,
+            460.3799986262309,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1368.2053760608585,
+            461.8799986262309,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1370.8034522722119,
+            463.3799986262309,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1373.4015284835652,
+            464.8799986262309,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1375.9996046949186,
+            466.3799986262309,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1378.597680906272,
+            467.8799986262309,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1381.1957571176254,
+            469.3799986262309,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1383.7938333289787,
+            470.8799986262309,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1386.391909540332,
+            472.3799986262309,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1388.9899857516855,
+            473.8799986262309,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1420.0,
+            484.0,
+            -10.4725
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-8_21-31-32_1983690368/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_21-31-32_1983690368/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6cfc7b53272f52e1c6c216fd7319d474ce8c6cb3
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_21-31-32_1983690368/pose.jsonl
@@ -0,0 +1,288 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1982.961595046533,
+            -145.79484861684068,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1982.961595046533,
+            -142.79484861684068,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1982.961595046533,
+            -139.79484861684068,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1982.961595046533,
+            -136.79484861684068,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1982.961595046533,
+            -133.79484861684068,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1982.961595046533,
+            -130.79484861684068,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1982.961595046533,
+            -127.79484861684068,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1982.961595046533,
+            -124.79484861684068,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1982.961595046533,
+            -121.79484861684068,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1982.961595046533,
+            -118.79484861684068,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1982.961595046533,
+            -115.79484861684068,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1982.961595046533,
+            -112.79484861684068,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1982.961595046533,
+            -109.79484861684068,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1982.961595046533,
+            -106.79484861684068,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1982.961595046533,
+            -103.79484861684068,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1982.961595046533,
+            -100.79484861684068,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1982.961595046533,
+            -97.79484861684068,
+            -14.030541685236908
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1982.961595046533,
+            -97.79484861684068,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1981.461595046533,
+            -95.19677240548737,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1979.961595046533,
+            -92.59869619413405,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1978.461595046533,
+            -90.00061998278073,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1976.0,
+            -64.0,
+            50.1663
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-8_21-37-3_430253414/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_21-37-3_430253414/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..445d13825ac37496284186137757524d1f6d4c7e
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_21-37-3_430253414/pose.jsonl
@@ -0,0 +1,210 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            297.21366529873035,
+            201.2853689689811,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            298.71366529873035,
+            203.8834451803344,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            300.21366529873035,
+            206.48152139168772,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            301.71366529873035,
+            209.07959760304104,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            303.21366529873035,
+            211.67767381439435,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            304.71366529873035,
+            214.27575002574767,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            306.21366529873035,
+            216.87382623710099,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            307.71366529873035,
+            219.4719024484543,
+            -14.030541685236908
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            307.71366529873035,
+            219.4719024484543,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            307.71366529873035,
+            222.4719024484543,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            307.71366529873035,
+            225.4719024484543,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            307.71366529873035,
+            228.4719024484543,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            307.71366529873035,
+            231.4719024484543,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            307.71366529873035,
+            234.4719024484543,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            307.71366529873035,
+            237.4719024484543,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            320.0,
+            276.0,
+            64.2459
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-8_22-0-45_826047641/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_22-0-45_826047641/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d3b981e7f3e44d9657b5d686f9a484e3022a4491
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_22-0-45_826047641/pose.jsonl
@@ -0,0 +1,262 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            15.895765418824901,
+            282.5885322782362,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            14.395765418824901,
+            285.1866084895895,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            12.895765418824901,
+            287.7846847009428,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            11.395765418824901,
+            290.38276091229613,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            9.895765418824901,
+            292.98083712364945,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            8.395765418824901,
+            295.57891333500277,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            6.895765418824902,
+            298.1769895463561,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            5.395765418824903,
+            300.7750657577094,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            3.8957654188249036,
+            303.3731419690627,
+            -14.030541685236908
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            3.8957654188249036,
+            303.3731419690627,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1.2976892074715876,
+            304.8731419690627,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1.3003870038817285,
+            306.3731419690627,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -3.8984632152350445,
+            307.8731419690627,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -6.4965394265883605,
+            309.3731419690627,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -9.094615637941676,
+            310.8731419690627,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -11.692691849294992,
+            312.3731419690627,
+            -14.030541685236908
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -11.692691849294992,
+            312.3731419690627,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -13.192691849294992,
+            314.97121818041603,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -14.692691849294992,
+            317.56929439176935,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -36.0,
+            344.0,
+            63.6789
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-8_22-20-22_1859031536/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_22-20-22_1859031536/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..309dd7d08a42c92fd417696138082070a0ba06cd
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_22-20-22_1859031536/pose.jsonl
@@ -0,0 +1,223 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            376.8484328683639,
+            312.66726992633323,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            378.3484328683639,
+            315.26534613768655,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            379.8484328683639,
+            317.86342234903987,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            381.3484328683639,
+            320.4614985603932,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            382.8484328683639,
+            323.0595747717465,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            384.3484328683639,
+            325.6576509830998,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            385.8484328683639,
+            328.25572719445313,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            387.3484328683639,
+            330.85380340580645,
+            -14.030541685236908
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            387.3484328683639,
+            330.85380340580645,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            389.9465090797172,
+            332.35380340580645,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            392.5445852910705,
+            333.85380340580645,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            395.14266150242383,
+            335.35380340580645,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            397.74073771377715,
+            336.85380340580645,
+            -14.030541685236908
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            397.74073771377715,
+            336.85380340580645,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            399.24073771377715,
+            339.45187961715976,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            400.74073771377715,
+            342.0499558285131,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            436.0,
+            384.0,
+            -0.096741
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-8_22-21-35_358984857/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_22-21-35_358984857/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..250176eaabd08787bd28d0fbd81f2ccfef2ffc8b
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_22-21-35_358984857/pose.jsonl
@@ -0,0 +1,327 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1362.93743083325,
+            872.4512205161989,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1365.93743083325,
+            872.4512205161989,
+            -14.030541685236908
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1365.93743083325,
+            872.4512205161989,
+            -14.030541685236908
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1365.93743083325,
+            872.4512205161989,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1367.43743083325,
+            869.8531443048455,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1368.93743083325,
+            867.2550680934921,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1370.43743083325,
+            864.6569918821388,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1371.93743083325,
+            862.0589156707854,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1373.43743083325,
+            859.460839459432,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1374.93743083325,
+            856.8627632480786,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1376.43743083325,
+            854.2646870367253,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1377.93743083325,
+            851.6666108253719,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1379.43743083325,
+            849.0685346140185,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1380.93743083325,
+            846.4704584026651,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1382.43743083325,
+            843.8723821913118,
+            -14.030541685236908
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1382.43743083325,
+            843.8723821913118,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1385.0355070446033,
+            842.3723821913118,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1387.6335832559566,
+            840.8723821913118,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1390.23165946731,
+            839.3723821913118,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1392.8297356786634,
+            837.8723821913118,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1395.4278118900168,
+            836.3723821913118,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1398.0258881013701,
+            834.8723821913118,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1400.6239643127235,
+            833.3723821913118,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1403.2220405240769,
+            831.8723821913118,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1432.0,
+            808.0,
+            102.413
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-8_22-31-27_1615935710/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_22-31-27_1615935710/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..edcf1397a70de4a1b23ecb69cc4b337f8a0ed923
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_22-31-27_1615935710/pose.jsonl
@@ -0,0 +1,366 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1438.346048265795,
+            266.1188611067062,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1439.846048265795,
+            263.5207848953529,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1441.346048265795,
+            260.9227086839996,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1442.846048265795,
+            258.3246324726463,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1444.346048265795,
+            255.72655626129296,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1445.846048265795,
+            253.12848004993964,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1447.346048265795,
+            250.53040383858632,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1448.846048265795,
+            247.932327627233,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1450.346048265795,
+            245.3342514158797,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1451.846048265795,
+            242.73617520452638,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1453.346048265795,
+            240.13809899317306,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1454.846048265795,
+            237.54002278181974,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1456.346048265795,
+            234.94194657046643,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1457.846048265795,
+            232.3438703591131,
+            -14.030541685236908
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1457.846048265795,
+            232.3438703591131,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1457.846048265795,
+            229.3438703591131,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1457.846048265795,
+            226.3438703591131,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1457.846048265795,
+            223.3438703591131,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1457.846048265795,
+            220.3438703591131,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1457.846048265795,
+            217.3438703591131,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1457.846048265795,
+            214.3438703591131,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1457.846048265795,
+            211.3438703591131,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1457.846048265795,
+            208.3438703591131,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1457.846048265795,
+            205.3438703591131,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1457.846048265795,
+            202.3438703591131,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1457.846048265795,
+            199.3438703591131,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1457.846048265795,
+            196.3438703591131,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1464.0,
+            180.0,
+            -27.5654
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-8_22-32-55_217871137/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_22-32-55_217871137/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fd72b13f42342a39185d8e4d70a313d116edef14
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_22-32-55_217871137/pose.jsonl
@@ -0,0 +1,262 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            728.3253397696336,
+            862.9470803364134,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            730.9234159809869,
+            861.4470803364134,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            733.5214921923402,
+            859.9470803364134,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            736.1195684036936,
+            858.4470803364134,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            738.717644615047,
+            856.9470803364134,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            741.3157208264004,
+            855.4470803364134,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            743.9137970377537,
+            853.9470803364134,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            746.5118732491071,
+            852.4470803364134,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            749.1099494604605,
+            850.9470803364134,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            751.7080256718139,
+            849.4470803364134,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            754.3061018831672,
+            847.9470803364134,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            756.9041780945206,
+            846.4470803364134,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            759.502254305874,
+            844.9470803364134,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            762.1003305172273,
+            843.4470803364134,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            764.6984067285807,
+            841.9470803364134,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            767.2964829399341,
+            840.4470803364134,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            769.8945591512875,
+            838.9470803364134,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            772.4926353626408,
+            837.4470803364134,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            775.0907115739942,
+            835.9470803364134,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            792.0,
+            824.0,
+            -28.3014
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-8_23-14-19_617909211/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_23-14-19_617909211/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b18cf64061a92d8ef8c80d2931354b945523c6d2
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_23-14-19_617909211/pose.jsonl
@@ -0,0 +1,236 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            26.091353140693037,
+            -84.06628919632723,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            24.591353140693037,
+            -86.66436540768055,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            23.091353140693037,
+            -89.26244161903386,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            21.591353140693037,
+            -91.86051783038718,
+            -14.030541685236908
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            21.591353140693037,
+            -91.86051783038718,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            18.99327692933972,
+            -93.36051783038718,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            16.395200717986405,
+            -94.86051783038718,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            13.79712450663309,
+            -96.36051783038718,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            11.199048295279773,
+            -97.86051783038718,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            8.600972083926457,
+            -99.36051783038718,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            6.002895872573141,
+            -100.86051783038718,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            3.4048196612198254,
+            -102.36051783038718,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            0.8067434498665094,
+            -103.86051783038718,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1.7913327614868066,
+            -105.36051783038718,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -4.389408972840123,
+            -106.86051783038718,
+            -14.030541685236908
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -4.389408972840123,
+            -106.86051783038718,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -5.889408972840122,
+            -109.4585940417405,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -28.0,
+            -128.0,
+            -27.9559
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-8_23-19-19_164826621/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_23-19-19_164826621/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5509d5499f04159f727c3d847277a57b7f13b33b
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_23-19-19_164826621/pose.jsonl
@@ -0,0 +1,197 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1845.841721871298,
+            481.0260327869909,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1845.841721871298,
+            484.0260327869909,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1845.841721871298,
+            487.0260327869909,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1845.841721871298,
+            490.0260327869909,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1845.841721871298,
+            493.0260327869909,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1845.841721871298,
+            496.0260327869909,
+            -14.030541685236908
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1845.841721871298,
+            496.0260327869909,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1847.341721871298,
+            498.62410899834424,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1848.841721871298,
+            501.22218520969756,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1850.341721871298,
+            503.8202614210509,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1851.841721871298,
+            506.4183376324042,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1853.341721871298,
+            509.0164138437575,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1854.841721871298,
+            511.6144900551108,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1856.341721871298,
+            514.2125662664641,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1860.0,
+            540.0,
+            0.167524
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-8_23-25-17_1238498976/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_23-25-17_1238498976/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..10c4bce70beadc6528f053a314e234b14776bd55
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_23-25-17_1238498976/pose.jsonl
@@ -0,0 +1,210 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1685.527004189889,
+            -118.1947592727461,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1684.027004189889,
+            -120.79283548409941,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1682.527004189889,
+            -123.39091169545273,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1681.027004189889,
+            -125.98898790680605,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1679.527004189889,
+            -128.58706411815936,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1678.027004189889,
+            -131.18514032951268,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1676.527004189889,
+            -133.783216540866,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1675.027004189889,
+            -136.3812927522193,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1673.527004189889,
+            -138.97936896357263,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1672.027004189889,
+            -141.57744517492594,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1670.527004189889,
+            -144.17552138627926,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1669.027004189889,
+            -146.77359759763257,
+            -14.030541685236908
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1669.027004189889,
+            -146.77359759763257,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1666.4289279785357,
+            -148.27359759763257,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1663.8308517671824,
+            -149.77359759763257,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1648.0,
+            -168.0,
+            -26.6135
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-8_23-40-2_301373537/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_23-40-2_301373537/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8d951285c59854c885c17308ef71db43872b5066
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_23-40-2_301373537/pose.jsonl
@@ -0,0 +1,262 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1698.5488267451008,
+            396.39401025116354,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1701.5488267451008,
+            396.39401025116354,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1704.5488267451008,
+            396.39401025116354,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1707.5488267451008,
+            396.39401025116354,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1710.5488267451008,
+            396.39401025116354,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1713.5488267451008,
+            396.39401025116354,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1716.5488267451008,
+            396.39401025116354,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1719.5488267451008,
+            396.39401025116354,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1722.5488267451008,
+            396.39401025116354,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1725.5488267451008,
+            396.39401025116354,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1728.5488267451008,
+            396.39401025116354,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1731.5488267451008,
+            396.39401025116354,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1734.5488267451008,
+            396.39401025116354,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1737.5488267451008,
+            396.39401025116354,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1740.5488267451008,
+            396.39401025116354,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1743.5488267451008,
+            396.39401025116354,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1746.5488267451008,
+            396.39401025116354,
+            -14.030541685236908
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1746.5488267451008,
+            396.39401025116354,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1749.1469029564541,
+            394.89401025116354,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1772.0,
+            392.0,
+            34.6515
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-9_0-0-5_592456289/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_0-0-5_592456289/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..491ed1ace7e767c15e178ab53a9d32f15d6d5d82
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_0-0-5_592456289/pose.jsonl
@@ -0,0 +1,184 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -45.44363943339311,
+            -290.4009956591211,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -43.94363943339311,
+            -292.99907187047444,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -42.44363943339311,
+            -295.59714808182775,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -40.94363943339311,
+            -298.19522429318107,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -39.44363943339311,
+            -300.7933005045344,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -37.94363943339311,
+            -303.3913767158877,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -36.44363943339311,
+            -305.989452927241,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -34.94363943339311,
+            -308.58752913859433,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -33.44363943339311,
+            -311.18560534994765,
+            -14.030541685236908
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -33.44363943339311,
+            -311.18560534994765,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -30.845563222039793,
+            -312.68560534994765,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -28.247487010686477,
+            -314.18560534994765,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -25.64941079933316,
+            -315.68560534994765,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            12.0,
+            -368.0,
+            -0.096958
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-9_0-19-22_213952386/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_0-19-22_213952386/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..42f1fd55d969c580b6fb7f43595c5a812eea0c23
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_0-19-22_213952386/pose.jsonl
@@ -0,0 +1,210 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -41.60821815300095,
+            4.270315101542224,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -39.01014194164763,
+            2.7703151015422236,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -36.412065730294316,
+            1.2703151015422238,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -33.813989518941,
+            -0.22968489845777595,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -31.215913307587684,
+            -1.7296848984577757,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -28.617837096234368,
+            -3.2296848984577755,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -26.01976088488105,
+            -4.7296848984577755,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -23.421684673527736,
+            -6.2296848984577755,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -20.82360846217442,
+            -7.7296848984577755,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -18.225532250821104,
+            -9.229684898457775,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982986
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -15.627456039467788,
+            -10.729684898457775,
+            -14.030541685236908
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -15.627456039467788,
+            -10.729684898457775,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -14.127456039467788,
+            -13.32776110981109,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -12.627456039467788,
+            -15.925837321164407,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -11.127456039467788,
+            -18.523913532517724,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            20.0,
+            -40.0,
+            31.11
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-9_0-4-16_788380902/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_0-4-16_788380902/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ca630fe27d68a9524139d6ad93ef233e230ce043
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_0-4-16_788380902/pose.jsonl
@@ -0,0 +1,301 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1903.729666008898,
+            46.895337603317415,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1905.229666008898,
+            49.49341381467073,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1906.729666008898,
+            52.09149002602405,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1908.229666008898,
+            54.68956623737736,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1909.729666008898,
+            57.28764244873068,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1911.229666008898,
+            59.885718660083995,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1912.729666008898,
+            62.48379487143731,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1914.229666008898,
+            65.08187108279063,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1915.729666008898,
+            67.67994729414394,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1917.229666008898,
+            70.27802350549726,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1918.729666008898,
+            72.87609971685058,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1920.229666008898,
+            75.47417592820389,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1921.729666008898,
+            78.07225213955721,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1923.229666008898,
+            80.67032835091052,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1924.729666008898,
+            83.26840456226384,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1926.229666008898,
+            85.86648077361716,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1927.729666008898,
+            88.46455698497047,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1929.229666008898,
+            91.06263319632379,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1930.729666008898,
+            93.6607094076771,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1932.229666008898,
+            96.25878561903042,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1933.729666008898,
+            98.85686183038374,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1935.229666008898,
+            101.45493804173705,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1952.0,
+            128.0,
+            -8.00905
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-9_0-43-51_228217069/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_0-43-51_228217069/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1a25b12efdb33bb50840ed2eb375cfa7a3f45116
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_0-43-51_228217069/pose.jsonl
@@ -0,0 +1,223 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1669.8945511314698,
+            -105.77362294962504,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1667.2964749201165,
+            -104.27362294962504,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1664.698398708763,
+            -102.77362294962504,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1662.1003224974097,
+            -101.27362294962504,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1659.5022462860563,
+            -99.77362294962504,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1656.904170074703,
+            -98.27362294962504,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1654.3060938633496,
+            -96.77362294962504,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1651.7080176519962,
+            -95.27362294962504,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1649.1099414406428,
+            -93.77362294962504,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1646.5118652292895,
+            -92.27362294962504,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1643.913789017936,
+            -90.77362294962504,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1641.3157128065827,
+            -89.27362294962504,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1638.7176365952294,
+            -87.77362294962504,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1636.119560383876,
+            -86.27362294962504,
+            -14.030541685236908
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1636.119560383876,
+            -86.27362294962504,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1634.619560383876,
+            -83.67554673827172,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1612.0,
+            -68.0,
+            34.3503
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-9_0-7-28_997276125/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_0-7-28_997276125/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..352da511026aee7e84c66fc8e9268351fb14ba76
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_0-7-28_997276125/pose.jsonl
@@ -0,0 +1,327 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            776.2951460606531,
+            420.2553821587401,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            773.2951460606531,
+            420.2553821587401,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            770.2951460606531,
+            420.2553821587401,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            767.2951460606531,
+            420.2553821587401,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            764.2951460606531,
+            420.2553821587401,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            761.2951460606531,
+            420.2553821587401,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            758.2951460606531,
+            420.2553821587401,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            755.2951460606531,
+            420.2553821587401,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            752.2951460606531,
+            420.2553821587401,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            749.2951460606531,
+            420.2553821587401,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            746.2951460606531,
+            420.2553821587401,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            743.2951460606531,
+            420.2553821587401,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            740.2951460606531,
+            420.2553821587401,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            737.2951460606531,
+            420.2553821587401,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            734.2951460606531,
+            420.2553821587401,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            731.2951460606531,
+            420.2553821587401,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            728.2951460606531,
+            420.2553821587401,
+            -14.030541685236908
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            728.2951460606531,
+            420.2553821587401,
+            -14.030541685236908
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            728.2951460606531,
+            420.2553821587401,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 4.1887902047863905
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            726.7951460606531,
+            417.65730594738676,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            725.2951460606531,
+            415.05922973603344,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            723.7951460606531,
+            412.4611535246801,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            722.2951460606531,
+            409.8630773133268,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            720.7951460606531,
+            407.2650011019735,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            696.0,
+            400.0,
+            -0.375042
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-9_0-8-24_717293418/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_0-8-24_717293418/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d9ef119d434560edd6a6c955a42d13e67a62e504
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_0-8-24_717293418/pose.jsonl
@@ -0,0 +1,340 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1817.4802367398559,
+            916.1412004832935,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1818.9802367398559,
+            913.5431242719401,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1820.4802367398559,
+            910.9450480605867,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1821.9802367398559,
+            908.3469718492333,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1823.4802367398559,
+            905.74889563788,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1824.9802367398559,
+            903.1508194265266,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1826.4802367398559,
+            900.5527432151732,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1827.9802367398559,
+            897.9546670038198,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1829.4802367398559,
+            895.3565907924665,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1830.9802367398559,
+            892.7585145811131,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1832.4802367398559,
+            890.1604383697597,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1833.9802367398559,
+            887.5623621584064,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1835.4802367398559,
+            884.964285947053,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1836.9802367398559,
+            882.3662097356996,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1838.4802367398559,
+            879.7681335243462,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1839.9802367398559,
+            877.1700573129929,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1841.4802367398559,
+            874.5719811016395,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1842.9802367398559,
+            871.9739048902861,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1844.4802367398559,
+            869.3758286789327,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1845.9802367398559,
+            866.7777524675794,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1847.4802367398559,
+            864.179676256226,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1848.9802367398559,
+            861.5816000448726,
+            -14.030541685236908
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1848.9802367398559,
+            861.5816000448726,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1848.9802367398559,
+            858.5816000448726,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1848.9802367398559,
+            855.5816000448726,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1856.0,
+            840.0,
+            -10.4725
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-9_1-29-21_808808585/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_1-29-21_808808585/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..38646a3e36d9c60b9d1a23193cbb25516141be05
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_1-29-21_808808585/pose.jsonl
@@ -0,0 +1,106 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            452.6955015485325,
+            471.62463194728537,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            452.6955015485325,
+            468.62463194728537,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            452.6955015485325,
+            465.62463194728537,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            452.6955015485325,
+            462.62463194728537,
+            -14.030541685236908
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            452.6955015485325,
+            462.62463194728537,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            451.1955015485325,
+            460.02655573593205,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            449.6955015485325,
+            457.42847952457873,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            436.0,
+            384.0,
+            -0.096741
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-9_1-5-24_375444584/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_1-5-24_375444584/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f9d57a140a172d658ba128655ccd118ea55a19c2
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_1-5-24_375444584/pose.jsonl
@@ -0,0 +1,236 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1390.266373030589,
+            420.60441320183725,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1391.766373030589,
+            423.20248941319056,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1393.266373030589,
+            425.8005656245439,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1394.766373030589,
+            428.3986418358972,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1396.266373030589,
+            430.9967180472505,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1397.766373030589,
+            433.5947942586038,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1399.266373030589,
+            436.19287046995714,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1400.766373030589,
+            438.79094668131046,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1402.266373030589,
+            441.3890228926638,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1403.766373030589,
+            443.9870991040171,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1405.266373030589,
+            446.5851753153704,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1406.766373030589,
+            449.1832515267237,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1408.266373030589,
+            451.78132773807704,
+            -14.030541685236908
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1408.266373030589,
+            451.78132773807704,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1408.266373030589,
+            454.78132773807704,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1408.266373030589,
+            457.78132773807704,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1408.266373030589,
+            460.78132773807704,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1420.0,
+            484.0,
+            -10.4725
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-9_2-34-29_701943705/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_2-34-29_701943705/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..07ec4197f81baa09c3a9214601a77ea1641d993e
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_2-34-29_701943705/pose.jsonl
@@ -0,0 +1,314 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            7.3534629347901355,
+            87.07282549640759,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            7.3534629347901355,
+            84.07282549640759,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            7.3534629347901355,
+            81.07282549640759,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            7.3534629347901355,
+            78.07282549640759,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            7.3534629347901355,
+            75.07282549640759,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            7.3534629347901355,
+            72.07282549640759,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            7.3534629347901355,
+            69.07282549640759,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            7.3534629347901355,
+            66.07282549640759,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            7.3534629347901355,
+            63.07282549640759,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            7.3534629347901355,
+            60.07282549640759,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            7.3534629347901355,
+            57.07282549640759,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            7.3534629347901355,
+            54.07282549640759,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            7.3534629347901355,
+            51.07282549640759,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            7.3534629347901355,
+            48.07282549640759,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            7.3534629347901355,
+            45.07282549640759,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            7.3534629347901355,
+            42.07282549640759,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            7.3534629347901355,
+            39.07282549640759,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            7.3534629347901355,
+            36.07282549640759,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            7.3534629347901355,
+            33.07282549640759,
+            -14.030541685236908
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            7.3534629347901355,
+            33.07282549640759,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            8.853462934790135,
+            30.474749285054273,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            10.353462934790135,
+            27.876673073700957,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            11.853462934790135,
+            25.27859686234764,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            16.0,
+            8.0,
+            1.51296
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-9_2-37-34_1961415139/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_2-37-34_1961415139/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..052c2d89f16ea3b3428aef19cd5f13dd4df11997
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_2-37-34_1961415139/pose.jsonl
@@ -0,0 +1,353 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1796.3104600955976,
+            614.980982785826,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1797.8104600955976,
+            612.3829065744726,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1799.3104600955976,
+            609.7848303631192,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1800.8104600955976,
+            607.1867541517659,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1802.3104600955976,
+            604.5886779404125,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1803.8104600955976,
+            601.9906017290591,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1805.3104600955976,
+            599.3925255177057,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1806.8104600955976,
+            596.7944493063524,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1808.3104600955976,
+            594.196373094999,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1809.8104600955976,
+            591.5982968836456,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1811.3104600955976,
+            589.0002206722922,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1812.8104600955976,
+            586.4021444609389,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1814.3104600955976,
+            583.8040682495855,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1815.8104600955976,
+            581.2059920382321,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1817.3104600955976,
+            578.6079158268788,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1818.8104600955976,
+            576.0098396155254,
+            -14.030541685236908
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1818.8104600955976,
+            576.0098396155254,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1821.408536306951,
+            574.5098396155254,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1824.0066125183043,
+            573.0098396155254,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1826.6046887296577,
+            571.5098396155254,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1829.202764941011,
+            570.0098396155254,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1831.8008411523645,
+            568.5098396155254,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1834.3989173637178,
+            567.0098396155254,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1836.9969935750712,
+            565.5098396155254,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1839.5950697864246,
+            564.0098396155254,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1842.193145997778,
+            562.5098396155254,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1860.0,
+            540.0,
+            0.167524
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-9_2-38-57_251836754/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_2-38-57_251836754/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f98ada262d1f071378b5298d8da077c2ee851edf
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_2-38-57_251836754/pose.jsonl
@@ -0,0 +1,93 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1195.6820597826738,
+            249.25173461360905,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1193.0839835713205,
+            250.75173461360905,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1190.485907359967,
+            252.25173461360905,
+            -14.030541685236908
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1190.485907359967,
+            252.25173461360905,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1188.985907359967,
+            254.84981082496236,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1187.485907359967,
+            257.4478870363157,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1144.0,
+            300.0,
+            0.65896
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-9_2-39-49_333480550/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_2-39-49_333480550/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..47f09b531ca85d336c143952d194d5a3360f1719
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_2-39-49_333480550/pose.jsonl
@@ -0,0 +1,249 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1014.950851669144,
+            -261.29370992071824,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1017.950851669144,
+            -261.29370992071824,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1020.950851669144,
+            -261.29370992071824,
+            -14.030541685236908
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1020.950851669144,
+            -261.29370992071824,
+            -14.030541685236908
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1020.950851669144,
+            -261.29370992071824,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1022.450851669144,
+            -258.6956337093649,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1023.950851669144,
+            -256.0975574980116,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1025.450851669144,
+            -253.4994812866583,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1026.950851669144,
+            -250.90140507530498,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1028.450851669144,
+            -248.30332886395166,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1029.950851669144,
+            -245.70525265259835,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1031.450851669144,
+            -243.10717644124503,
+            -14.030541685236908
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1031.450851669144,
+            -243.10717644124503,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1034.0489278804973,
+            -241.60717644124503,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1036.6470040918507,
+            -240.10717644124503,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1039.245080303204,
+            -238.60717644124503,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1041.8431565145574,
+            -237.10717644124503,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1044.4412327259108,
+            -235.60717644124503,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1064.0,
+            -220.0,
+            -28.0272
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201751.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201751.png
new file mode 100644
index 0000000000000000000000000000000000000000..b8beec0ce5d8b834bf5408bc2cc8f838bbe2b2c3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201751.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0459e3dd98de148982f5f2c057faa77cf58c9fe77807795d7451aad19c6175d
+size 815680
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201753.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201753.png
new file mode 100644
index 0000000000000000000000000000000000000000..5e9f78faedff595f0f223e5746a2a6271146535d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201753.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b9eb233bbfa2fd3de1544942db71365a080583a630872dc7ba0cd442b55ff2b
+size 754139
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201755.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201755.png
new file mode 100644
index 0000000000000000000000000000000000000000..dc2a83021dcbda1d4ef94988337dd8c98f199a82
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201755.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b1c98bcb85511954f463fa2afff574f06604146d4b95fc3aabcbb85135c2d26
+size 717762
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201757.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201757.png
new file mode 100644
index 0000000000000000000000000000000000000000..0a8b942ba18d8d64105096a05a19daefab4623bc
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201757.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8fc0cefa1c1ff484c263ddf9b763b5bd78123c588b4b93adc953cf0d2ff7d7f
+size 702709
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201759.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201759.png
new file mode 100644
index 0000000000000000000000000000000000000000..791a43fe4b37011678bb9a0da8c529add7edb9e6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201759.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7581fa8e9c87b173f5a0f903d5ecf48dfb62b81e89a0d85061f635896b57d6f0
+size 693341
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201802.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201802.png
new file mode 100644
index 0000000000000000000000000000000000000000..d4cc4e77f6024ada3d0ee519bc3b1bd3244b5a16
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201802.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:644051e5fc5bb8a107c6956ff264778149db4bbfc84d86a06118c75089f81bfe
+size 677916
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201804.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201804.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd9367005104af6dacde0ff4327d9aa07117200b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201804.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4b10a3bd85809ddeb1b43dfe522fb5f0befb3b176c286a811d851914b71bce2
+size 666673
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201806.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201806.png
new file mode 100644
index 0000000000000000000000000000000000000000..aaf4a6e5155801e778a0a66960881a1d6ec2c681
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201806.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:278291cb7243480fc92f62680c77511fd640263b7c117a42b0a132c9aebcf9e3
+size 656945
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201808.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201808.png
new file mode 100644
index 0000000000000000000000000000000000000000..51c0475600ccc8e46917d110d028e22ceb05def6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201808.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bbff8b688343255ccfe7ad546802d017aedd9430bd113d5759be63fcf3882ad
+size 655005
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201810.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201810.png
new file mode 100644
index 0000000000000000000000000000000000000000..cf048d43d112a2cc5084c6d1d334502498792435
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201810.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b351d87615c5c0819f7ad3e485f518bf045b8a002aca86ce2dc08ed76d5c28cb
+size 660469
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201813.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201813.png
new file mode 100644
index 0000000000000000000000000000000000000000..0510f7017eecd672b394cdd1fc5bb8963b9633bb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201813.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75284f3ab012045225cda1fb74fc693a5430383d62176d895a100f46a82762a0
+size 672246
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201815.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201815.png
new file mode 100644
index 0000000000000000000000000000000000000000..628a2ee13b25b1a5398bdc588f50907410bf02d6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201815.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edf3b6b5afb3a66be3d9fa331bbc83e2a0bf4102f995c628b783c418f89ee4ce
+size 681827
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201817.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201817.png
new file mode 100644
index 0000000000000000000000000000000000000000..023c9feb26634475eb056860cc47b4ee32a7404e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201817.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5ff9bef9645417c0c94cdcb588b3247b445e3657304c3bad7f50f893c36304d
+size 692946
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201819.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201819.png
new file mode 100644
index 0000000000000000000000000000000000000000..815cf6362b93736199b8b8a07b0a57e45b4d3624
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201819.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5abf0014833a93c12b818dbfc780b3d0c6a94817b9c7c7f89e4f0f166ab92c65
+size 703739
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201821.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201821.png
new file mode 100644
index 0000000000000000000000000000000000000000..880d5f637015dbd6eee95c860ef9f005b901fbce
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201821.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1a2e81e5fd09c01158ac59a94fa969d43039fe45e8d52d4021a3479a844cafe
+size 715074
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201823.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201823.png
new file mode 100644
index 0000000000000000000000000000000000000000..c2e2a0c3c24f66834aed1aef7f18a00d5e7bf54a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201823.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a8aca8b5729a2a2d2770ca0d4c8e87216331a2a4f80e324d91d8110ff497342
+size 722551
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201825.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201825.png
new file mode 100644
index 0000000000000000000000000000000000000000..5f5a978e04ab747f26158443e0dad31e3c73bc50
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201825.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2faba2684a6d673172c12c8d4664c55d250f23f4097eed766f8e5da96c5aacad
+size 726656
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201828.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201828.png
new file mode 100644
index 0000000000000000000000000000000000000000..cb9494021b3bbb9df8caac58886e1f9f1725caa5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201828.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd57f36c0c5d1bc91f2c23e471dc9f7347b365e658f88d7c279c33b576cbe199
+size 733958
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201830.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201830.png
new file mode 100644
index 0000000000000000000000000000000000000000..fb81bb7a94b62d7c46bc189a82ab895c079e4045
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201830.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:948dea3f5c5340d9f97f84533871328109a8a87448875aabca64a5a4422416e5
+size 739114
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201832.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201832.png
new file mode 100644
index 0000000000000000000000000000000000000000..f243ec70d8050c906967764accd37ef7860fc84f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201832.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ba36bf46d9152137a121b7052c5d599200762aa2d7c931e3246ed33e7c49fdd
+size 743717
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201834.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201834.png
new file mode 100644
index 0000000000000000000000000000000000000000..682477d3551dffff465b207591d5f34b39e79330
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201834.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0bc42abad1df44b083a35909a0be45f8d4ab49468d6cbea301c58ae176a69f8d
+size 751852
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201837.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201837.png
new file mode 100644
index 0000000000000000000000000000000000000000..36c8cd958cee82e553dd1026055bb14d4e6a5f9f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201837.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65bdfa2a2d2a9f0f7e41320c092a0dffa28823f68f4f68bd96d14f38ce36f4e6
+size 753869
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201839.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201839.png
new file mode 100644
index 0000000000000000000000000000000000000000..29844496f52b90f9e1bd50bcaf345f70cc02f401
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201839.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f36d669343c738e8ada9c43dbc6c866fd3cad971d489babcde6f66b542946032
+size 748934
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201841.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201841.png
new file mode 100644
index 0000000000000000000000000000000000000000..c176511675a030d4bc6e3affa4eb93e949ebebd7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201841.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70fb74a50c8975e83b4b7c7123038e838bd657d5d35024b60ffd351d411c40c8
+size 745921
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201844.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201844.png
new file mode 100644
index 0000000000000000000000000000000000000000..d739c67d2a82a9545d0adfaf1dc35190df0d2200
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201844.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9cccdab6b2965a77fb7ab8fd674e510f59f214fe24fcef6ed18caa072e66b8a
+size 747759
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201846.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201846.png
new file mode 100644
index 0000000000000000000000000000000000000000..80673a81587177d0d2e27c0a5d248162f83e3ab5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201846.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a033474fea3c51c1bded43a1c63594d07bb7be2dd2c6042088e1d222043a427
+size 745667
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201848.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201848.png
new file mode 100644
index 0000000000000000000000000000000000000000..8ad634b2f584a36098a765fa4dad5109ebc83c9c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201848.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6826f925181248f63690ac812cd5c701cc848b5a86779678e069a2717cd0e1ca
+size 765343
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201850.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201850.png
new file mode 100644
index 0000000000000000000000000000000000000000..6a2acd502d9b61a89e832fcac23de6de0dd615da
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201850.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d113ab716ec86ddfb4c5d1deab6381ccf86ebd79a69581f5f67ddd02d3f94428
+size 763059
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201853.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201853.png
new file mode 100644
index 0000000000000000000000000000000000000000..b57ef8dc22b3e572d3d64c7538fc615a6ad54911
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201853.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e028f9cfe120c74b49d7785327e6b2b8549175bdd0881ba33c0e9d7d4a118b6
+size 759950
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201855.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201855.png
new file mode 100644
index 0000000000000000000000000000000000000000..abe95a23bcfbb4db08e4323f0f66f84a23d01b1d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201855.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63689c943f211960ea3bf2431f0d2f7131567e34f09859c6adcbd9df60bc8b23
+size 760179
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201857.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201857.png
new file mode 100644
index 0000000000000000000000000000000000000000..67acd2f00d5ae35b65878bfcc8ed2f5291d9b2be
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201857.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8bac8b9b2ee8b32209541c27049b0289b382e4f00f2187107712dd0c87635712
+size 760815
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201859.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201859.png
new file mode 100644
index 0000000000000000000000000000000000000000..18258c10a9913b214640b642b2cf872b39e392dd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201859.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f2d03b296f11ad9aaf6362115234385f618ccc9f4f717c1f4cd3462372aea7d
+size 763738
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201902.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201902.png
new file mode 100644
index 0000000000000000000000000000000000000000..7441de6207d3d2af454b2ad45905044b9c15adf3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201902.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9242e107b7eee46e504b57073adbf761ccd9ba85ad9c9faa8551d986a1d97326
+size 761961
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201904.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201904.png
new file mode 100644
index 0000000000000000000000000000000000000000..eeec2073686719d01feb2dca3df9c22b599d811f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201904.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7fab25ad11721f1e939dc12f3ad70abce378893b1c9a46535e3616286d2519bf
+size 761063
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201906.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201906.png
new file mode 100644
index 0000000000000000000000000000000000000000..e95c8885378863755d1295aa2e275cb5ecf198f2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201906.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0760eeb3bcfd160576a513e829445e08d58ef2cc7eed671f4a727b8e907a79a
+size 761776
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201908.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201908.png
new file mode 100644
index 0000000000000000000000000000000000000000..51ff832baa6f41be68ec395c08f8e3738b9c6f94
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201908.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5c84f28462156fac7ac8cb0e3a396361b560698f7e939c517bae304ad7360e3
+size 774447
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201911.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201911.png
new file mode 100644
index 0000000000000000000000000000000000000000..7e96ee3f0479dbabe3e471869754895d9d5f232c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201911.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08f927122a5b3eac2201d8b3d373fba2e14698ba49be8aa92c5cde1f3fdc9465
+size 790904
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201913.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201913.png
new file mode 100644
index 0000000000000000000000000000000000000000..8f4c4adeada884cbc987a2d08f3ac3f2a6a3caa9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201913.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0834165b4fdd64d4fb4c2e34b0f526f71259b9e695b2ad55a47abf3ceda098fa
+size 794874
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201915.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201915.png
new file mode 100644
index 0000000000000000000000000000000000000000..28254fe0bb12e907cc939bcac420cc4dc1f7ef91
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201915.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61f351cac05bb0960f4c11edad7d46944b1a3c29a0a46e099888962929e7d3ba
+size 779114
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201917.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201917.png
new file mode 100644
index 0000000000000000000000000000000000000000..07764bc9b8593aac2563f4a2af9408111b4d94d9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201917.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd11d9a636e1c193e3abd21cf569d3049413f11b86c5bdcd742bf0f0ee703988
+size 761010
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201920.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201920.png
new file mode 100644
index 0000000000000000000000000000000000000000..e63721b03454a889a3a83378e67f85380129053e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201920.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3c26e323c97c20fe0ea0c44f2ab19b0aaf0432f4798a0b4a5a7489ae847aae7
+size 744491
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201922.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201922.png
new file mode 100644
index 0000000000000000000000000000000000000000..231dff5ed04660a8aed1fc706960ba2670ef13ff
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201922.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab3982f8e357bc13ce3c8dedf62e02400a812e5ee27f8231f6cee3098eaa4907
+size 739880
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201924.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201924.png
new file mode 100644
index 0000000000000000000000000000000000000000..42d19819ef380f2bc23d52b3c1bbf75a11d00db5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201924.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:389079b32a4aeb03cd1ab662c3a698db18734b71d79895072875b0100d1ce851
+size 729345
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201927.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201927.png
new file mode 100644
index 0000000000000000000000000000000000000000..8db69ebeecdd28d9fa0ba152a5eb0568f976e175
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201927.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c14408fecc55d7e13d9c2855a7309e117eebe0c48752271c50049d1faa74d41f
+size 725768
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201929.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201929.png
new file mode 100644
index 0000000000000000000000000000000000000000..3b9200cf3194926f83e0153e6008e7ec20033eef
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-14_20-17-44_1365180540/20250114_201929.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e40bba066e7eb39988ce1f709049f954cb440ccba02f7e2332db76448ec78258
+size 768125
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120844.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120844.png
new file mode 100644
index 0000000000000000000000000000000000000000..840a1a1f7ede4fcb5dc45c65be3ac13963462b70
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120844.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:278fbc0a99039b9e5b82cbe4b4006e63b5e019724b61893602eaaaf5160c01f6
+size 868331
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120846.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120846.png
new file mode 100644
index 0000000000000000000000000000000000000000..ee401780b4e7d07dba530d72e917d9d12ac217b1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120846.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe1e9dffc18424888c42e4bf06751e8a760bdd5f9eacf42748f96871afd967cd
+size 781466
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120848.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120848.png
new file mode 100644
index 0000000000000000000000000000000000000000..34ffb0d22fae89e5fb1202809853703e76d2e4ff
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120848.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d733ac1b6a0de53665610f2c264e9fa6040220f3b328efa2b44e54fd538e262
+size 782212
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120850.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120850.png
new file mode 100644
index 0000000000000000000000000000000000000000..13a69df699655f44ba89be67884b5e897e4347a0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120850.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:461684643d0bad40c0e0d538e1bb3ad048edb18e1e35b1d7c912fde96d4834e9
+size 787879
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120853.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120853.png
new file mode 100644
index 0000000000000000000000000000000000000000..c3d5472849c23ce493c2bf75f119090ab4a39cd6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120853.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:479608b3c3fba62232247429c595d7524a095b7dc67c289f1c7c8e90e106f230
+size 791869
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120855.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120855.png
new file mode 100644
index 0000000000000000000000000000000000000000..e6c67f38fc6d2c431dee457aeb442ca517a71c6f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120855.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4879366325dd6ce9641af8ce3a879656cfa8bc894234174c65bfa5bb77ddc23e
+size 790588
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120857.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120857.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c8787daa33f0209abbdd37721edc788675e635c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120857.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:067376912f1d0a9b20a568c974aeef8909662ae255ffc134bcc9be913413e6e2
+size 793412
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120859.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120859.png
new file mode 100644
index 0000000000000000000000000000000000000000..ceb684b13a263f7d1fb4194dc31b6d4835c71a6e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120859.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cad2f09b54c7e380dcc8118799edd5a5bde1371ba14b5cea1a78e704b1e91beb
+size 786904
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120901.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120901.png
new file mode 100644
index 0000000000000000000000000000000000000000..6186ce5447915779342bb28b072f9b4f3d63bc80
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120901.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ffd530723cd9471500c275f9943e090b754857ceee88d44f2631bd4e64caaf2a
+size 783182
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120904.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120904.png
new file mode 100644
index 0000000000000000000000000000000000000000..e58a08c32b166ef5eedbc038b6955a6a4c5a3614
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120904.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a979f76f591e4899989fd0b867e741d3ea8cd17f064b87f40c582af9f3b5197d
+size 768045
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120906.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120906.png
new file mode 100644
index 0000000000000000000000000000000000000000..09f608e2f4c91a26d420ebdb5168b88640b8859b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120906.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8a7e7e5b3d050fdc397a39ec7add6e64cff9bb006f8d54083e88d6bde46bf6e
+size 765248
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120908.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120908.png
new file mode 100644
index 0000000000000000000000000000000000000000..10a36bf312da4908309a2004b3c32b7342f53e03
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120908.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6ff3058c0271fc872624bd2e5fa3f4eab4a4918ba91384b91b31ff4a695b0d9
+size 760575
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120910.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120910.png
new file mode 100644
index 0000000000000000000000000000000000000000..c6251e46b200f50f84638899152a16070c96a7a0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120910.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64977b2459a76487c10c17f956918c13f7c9fda4fff429f166c88137d329b90f
+size 752538
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120912.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120912.png
new file mode 100644
index 0000000000000000000000000000000000000000..93ffaf3237cc1da70afa04755afe7ecd2a9fc841
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120912.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77cec5203334958750284bb4d9cb87d0771325cd151327ca7193dc88760982a0
+size 741362
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120914.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120914.png
new file mode 100644
index 0000000000000000000000000000000000000000..8d8356b430ea25a952fa51c01db1a2cabc09d655
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120914.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a869f7f3c35e9ed49546563c9b32f4a60613d1ea394666df2af676b0748eedd5
+size 747095
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120916.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120916.png
new file mode 100644
index 0000000000000000000000000000000000000000..f22be97dcc802d07a15ef48336b7f1aa9a0c57c2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120916.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56358da5f8b3f84af43776f53336f88f570dd4b48e62ed9edaea0c0340b73d20
+size 748594
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120919.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120919.png
new file mode 100644
index 0000000000000000000000000000000000000000..899d9cfa47b677a95cdb9c2ea405f9baf8512ad9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120919.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5d1cb793d145dbe1773c0133ad76e2ebba96deb6e5c00a463a0efcbf7c805ca
+size 749503
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120921.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120921.png
new file mode 100644
index 0000000000000000000000000000000000000000..d19bc1b8afafe9b4b5d2decd0595b012448e3429
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120921.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9a7f3a433f5549ee20b19753d55b5236104bca32696d0bbe59ca4676483eec8
+size 766406
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120923.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120923.png
new file mode 100644
index 0000000000000000000000000000000000000000..daae5f5027c136d0f16814e2d3f2f8d50c59f326
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120923.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b34498087198483f6e51acfa496591f7475e9662acc4c68daa4ac628804ca4e1
+size 775215
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120925.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120925.png
new file mode 100644
index 0000000000000000000000000000000000000000..84e978d072b6cbcff6c0b9ea039a571b60ced19e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120925.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05f5307efa5979c666d7b1710a6f1a859498408ebf36f810f2d4ba32960664f9
+size 768145
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120927.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120927.png
new file mode 100644
index 0000000000000000000000000000000000000000..99af054b50bebd58c382259a873dfabb850d8c54
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120927.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a56b3a52db3e849bda70d6cbaa16962cf310330006c6b4443eb9b49ae222aaea
+size 755311
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120929.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120929.png
new file mode 100644
index 0000000000000000000000000000000000000000..7369bfc3b6b2033cf4a061fcb071b08687b8f8cf
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120929.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f852f927671381727205e507507c8f5919dc3c76095861d452d67b505a972642
+size 755323
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120932.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120932.png
new file mode 100644
index 0000000000000000000000000000000000000000..0eca602c6218c65aa09b35020da39e2ac10946b6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120932.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bee939830ed8f87fe668622fbed3be456d2c5a33aaf03b21d033689921c353e6
+size 750917
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120934.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120934.png
new file mode 100644
index 0000000000000000000000000000000000000000..35877cf10ea731d884720319d439d84a078a3231
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120934.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dcf547128a8c54d5e408cfad7dcf9ec21b656eb11ab08040169842059da21872
+size 739621
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120936.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120936.png
new file mode 100644
index 0000000000000000000000000000000000000000..6f60b600674246b079a5de8da5b105c851fd9112
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_12-8-38_496060028/20250115_120936.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00e2d190ae203a63f1e28cebbd46f7ec32fa79876b83cc82cd630b5d7d8e0d0f
+size 800545
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_154928.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_154928.png
new file mode 100644
index 0000000000000000000000000000000000000000..8601a57ffb9fcb63620c3379a34737fab46731b6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_154928.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:057a62aef6994cdade3c91788fa0e3997274af5105034e8870f50ca217e386db
+size 686000
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_154931.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_154931.png
new file mode 100644
index 0000000000000000000000000000000000000000..3618fab285863dfae5c28971ffb7dabb6d93324c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_154931.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56f5cea50f1109c69184884c4a044c470aabaf0e44970a958b5f8de0595aba04
+size 797447
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_154933.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_154933.png
new file mode 100644
index 0000000000000000000000000000000000000000..bf954d4abec762bb03d7e35ce48367fb4c37667e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_154933.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a616f140b02303c04b4d00da1e3d1df869a48323796e6f84b443f0fb7596e0d2
+size 780938
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_154935.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_154935.png
new file mode 100644
index 0000000000000000000000000000000000000000..071beb2f9c2c9c7fd3ddd82014623c4044f55f5d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_154935.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90c14f1aedabe6a80e07e1d2cc6b5cfeed4a62cb36bd6dd49120b2111f89e270
+size 783181
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_154937.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_154937.png
new file mode 100644
index 0000000000000000000000000000000000000000..5ec30a873ec3bd4336c55972ee7e99133de4d977
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_154937.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a36eff2c2c6c4676a2a8a6007e4bb04555671cfb3c710e196f3c94728936b78b
+size 787219
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_154939.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_154939.png
new file mode 100644
index 0000000000000000000000000000000000000000..36b05f280da691c18891c36ce9e1ef727f248066
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_154939.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fd047416b7bb230d246432564f94869eba48932b87a0c85ee321122d51914d1
+size 794047
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_154942.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_154942.png
new file mode 100644
index 0000000000000000000000000000000000000000..194462b573f5f2ab63847fd3804ba7c3b2149770
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_154942.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4a17bdfc1db7ffd09461ebbec030cb80aeaf585c20c973f4bcd9d41162679e7
+size 794098
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_154944.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_154944.png
new file mode 100644
index 0000000000000000000000000000000000000000..29ad0d7630d7354fe6aa36e472e01d30d4b4ecf0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_154944.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0cce2a62e75c07b77714662ea4d971a10ab185ae7efce526b2bd19bb816a24b9
+size 796002
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_154946.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_154946.png
new file mode 100644
index 0000000000000000000000000000000000000000..3181d5c58035751de270a5376a9f3a847990f4ff
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_154946.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e96efdc0ec2de9c843586a5fea80bef6cd91595ca5c19a1c2defc06df41aab43
+size 799365
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_154948.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_154948.png
new file mode 100644
index 0000000000000000000000000000000000000000..c23e1ea1ba21192616ae1e8aebe66fe13b3ba001
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_154948.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dea1ba6cf0df4833ebe0efde7fcb42cbc1011acc3e7134168dbbab8322e0f203
+size 799852
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_154951.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_154951.png
new file mode 100644
index 0000000000000000000000000000000000000000..2e6fe48cd1dd7f3f11fcbae4c3b29a82f75daac7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_154951.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c369663ef2357914279d8c8a967e66d9886bba010f5b79589e3e40c1fb99cd16
+size 802860
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_154953.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_154953.png
new file mode 100644
index 0000000000000000000000000000000000000000..010397cf617845b8c08ed80d8993df593681a264
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_154953.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6470d9995dabff948f0ba78dc58726de77261dffbd5368e3e2772ace00bfd72
+size 802330
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_154955.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_154955.png
new file mode 100644
index 0000000000000000000000000000000000000000..01f323b028bbca2dde7e18231c24725d47d76838
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_154955.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d7f8e21038518365659138e2f31787e714061e34dfb1a16df153a8d36c2246d
+size 792626
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_154957.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_154957.png
new file mode 100644
index 0000000000000000000000000000000000000000..9cf9a61e1ae5ddf73b855e14a95864651dd9cd00
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_154957.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af5d25cb74c0e6c429978b3c86f999953537b31a251ebcb5277a97e7c3bc322c
+size 792209
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155000.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155000.png
new file mode 100644
index 0000000000000000000000000000000000000000..21367d20efd1fbc3a08c734b71ae31899d3a558b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad74f7e73ce34c713889cd021df7d7b427d73df7ac0896f67a1e9c5a5353bad4
+size 797833
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155002.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155002.png
new file mode 100644
index 0000000000000000000000000000000000000000..d2c3ff5c44546020278c1e9922c24bb4329e41f3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155002.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aaa62f2457798d0599c2daa9d075a0db37ce4afcb72472969861bca137f53e52
+size 807197
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155004.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155004.png
new file mode 100644
index 0000000000000000000000000000000000000000..75b4f29695d30146ceecc917a739e6e371db4301
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155004.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bea627bcf0fec957dce74c488568619c3630557426db7978f9a64f9a7b457182
+size 821562
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155006.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155006.png
new file mode 100644
index 0000000000000000000000000000000000000000..c0822dd98902105bec049ac7b8eafe95bae6e465
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155006.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fd45096cab63dfc383c487d068ba71cfde9f722f73d0435bb8e18e2f02e6459
+size 824468
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155009.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155009.png
new file mode 100644
index 0000000000000000000000000000000000000000..441ef7b68c6fc4e43615ce1d2cc8d663b0334c32
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155009.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:042d513bf22935abbe723b6c679bc939182902d72768659b1d8ffee62ea2ce4a
+size 826092
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155011.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155011.png
new file mode 100644
index 0000000000000000000000000000000000000000..30d7bb19d2b02aefa434629350875fb0042dd887
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155011.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61a0bc78e5cf5f1e6c49c168b0252913800df531f6da867eb9cc31f2f424ca4e
+size 835272
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155013.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155013.png
new file mode 100644
index 0000000000000000000000000000000000000000..9369aff820d1d793225d542a1bcc25e52f01c72d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155013.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f65a84eceb2a7b06c627863ce7397bb91264c5476f4028eb298f017bb6dcf25a
+size 838926
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155015.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155015.png
new file mode 100644
index 0000000000000000000000000000000000000000..7a35b59fd5ba2789e25ec3cf347683ea420d55ec
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155015.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b62ecc980de7508d193b158558d35f1ee593fd95f1b78319a73046149abd4456
+size 845043
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155018.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155018.png
new file mode 100644
index 0000000000000000000000000000000000000000..d5558e9cad5ecead0cece378982c9af8d64b00a9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155018.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9098ce9b0fe1dde2067714963b8ce780313fddd8654b6c3439e55b1e44d69816
+size 847480
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155020.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155020.png
new file mode 100644
index 0000000000000000000000000000000000000000..1d1692e1c0ba58806dc6673acfaff2cad2abc5dd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155020.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d77f668c343ead77f11502592986c29592a56a5514fb2e5ae42d06db113b8cc1
+size 847275
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155023.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155023.png
new file mode 100644
index 0000000000000000000000000000000000000000..0078a8effb5e4d18011666b065fd6e7f25f8633e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155023.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e438a88ccec23775b5722ec861ca60491aaae9ff798ecdf452f62a231cfd57e
+size 807845
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155025.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155025.png
new file mode 100644
index 0000000000000000000000000000000000000000..52ba67d79f956d0483ec85f9d3a7169ddd066ebe
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155025.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87abb0981bd2d47fbe521122d1f5383284676becd6e72b535a05f19a7036fbd2
+size 787219
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155027.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155027.png
new file mode 100644
index 0000000000000000000000000000000000000000..b2c109c986e629ad6d9a1d86cbd686e87c7cfa75
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155027.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7855fd66cea784c721517133bfc0e27b2c2d0f127828ae1cac2da605605d861
+size 763224
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155029.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155029.png
new file mode 100644
index 0000000000000000000000000000000000000000..84e30d5099cbc7d0e4f804047e7bad46718c03e4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155029.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e4e6f9a161ca273bd8119a7eca53fe1761e529b7024c26830d0918f25dc4efd
+size 755756
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155031.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155031.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd5300f2509369074c50b3e7d9bdd9c2ac092dd8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155031.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26f6155ccc69c6384a4c88899ecad1ef9e1dd0235e46d3b4167c61ff9b09d8a5
+size 758092
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155034.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155034.png
new file mode 100644
index 0000000000000000000000000000000000000000..3a4c3c8cdc4abf2cf518dea85b88a00bbd3bc0a2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155034.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d59c93f5e56478645ced8f8c1146fb60b25cd031c15020aca9a056a5b71f6b61
+size 760539
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155036.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155036.png
new file mode 100644
index 0000000000000000000000000000000000000000..b0af060e4e971a3d4f7d951be5b4eef0c1528958
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155036.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c11a7d65861f1b765902324c1721c5292ece90ec4515290624f717781235a211
+size 767816
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155038.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155038.png
new file mode 100644
index 0000000000000000000000000000000000000000..4ee9b631a9b70a09c77206147e202bedb2ca0e68
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155038.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f39b7a3b9880cacd16667b3edcb7c35eeec926fd9477ff33ea13806e9c871768
+size 772417
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155040.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155040.png
new file mode 100644
index 0000000000000000000000000000000000000000..d977f8a3d9a784eb12e97e37d6f6e6686c536f95
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155040.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:116db1bca0cda702de34c892573e5ff69e5ae9e7cdfcd1dbc15c6f218911e5a0
+size 769624
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155042.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155042.png
new file mode 100644
index 0000000000000000000000000000000000000000..4ad51d937257249e1caca5bc4af4a09da3ab06c7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155042.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c38a1e3de8ea04819e4ceed7bd2792c2d5f4e95f69aa747b891cfbd2252b159f
+size 773226
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155045.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155045.png
new file mode 100644
index 0000000000000000000000000000000000000000..c9abfb21081f0602b37ddad4cceff74d625fcb19
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155045.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8245103b65ebd6f75f162312cb893c65643fda122c6abcaface354b4db3d6ce
+size 775628
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155047.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155047.png
new file mode 100644
index 0000000000000000000000000000000000000000..516f574cdd95b1f1070b4fe64df274137851bdcf
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155047.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:451f74e2f44cb065d056eef5732d04c2d1ab83e99a49a3628f0de58e2294f055
+size 781253
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155049.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155049.png
new file mode 100644
index 0000000000000000000000000000000000000000..3acc8459aa0d2ffa426ee2f1a64d032b5a0775b2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155049.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09c7350130cc5c06e0ab901ec5d1c02aedae2ee16e98a8a61746a812e0ca40b2
+size 782005
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155051.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155051.png
new file mode 100644
index 0000000000000000000000000000000000000000..94f8ddf9cb5f8528a1c19ee0ef3b0efc3712d81e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155051.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:784d54651e42c77a537e156c67c025366cd31ac0fa72b73750a522aac2383458
+size 781079
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155053.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155053.png
new file mode 100644
index 0000000000000000000000000000000000000000..d9c7fca029249fe99b118eec8516df7470b03e4c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155053.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d03e96b454fcde9fe91fffff8f0ca1da0e60947f74500178d89d0c2fdaa3a80
+size 785397
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155056.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155056.png
new file mode 100644
index 0000000000000000000000000000000000000000..5dc4fbb6477e5cc02ef01f02e7e3248f8e1115a9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_15-49-24_1505193512/20250115_155056.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2f1fd8dd7eac2f8e9ded6f665806b929c0207d0f7f8b032706684e04ddca9f6
+size 617250
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210812.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210812.png
new file mode 100644
index 0000000000000000000000000000000000000000..67090e349d3c6d53c7fc8ddf8a3f914ab831b862
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210812.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91d75bfc5b9351e82962661cd502dd2ad105aacdc99d44c77f8cf7fb9fa299f5
+size 654501
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210814.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210814.png
new file mode 100644
index 0000000000000000000000000000000000000000..3894af7c3e3e278fb5dd81e235c0a89ad4b4eb88
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210814.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b3e2e2642e82ad3e0817ce7022bd3381e3df7be09ba0bd2ab36f27535828be3
+size 650455
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210816.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210816.png
new file mode 100644
index 0000000000000000000000000000000000000000..405842282c0c623e734de007de949a45928d1581
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210816.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5eee4ecddfb41c0dfd636163d980ccd3151e16791cef941ad5d38c3b6af20be5
+size 682052
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210819.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210819.png
new file mode 100644
index 0000000000000000000000000000000000000000..8ed0ebbfad9aa34b50e93066af01c6169f48b241
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210819.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:104b9901ab98b7f6031cf7deb4c6f4a31225d01a720cc8e9defb3cd1e3faf46e
+size 692621
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210821.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210821.png
new file mode 100644
index 0000000000000000000000000000000000000000..e46a0e620b72186a9b2ec42c7f9440ee4c7666a5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210821.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ecae17ad7000a852e0b5394c89b97bad9e836467961d59b9230608a3267f413
+size 703979
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210823.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210823.png
new file mode 100644
index 0000000000000000000000000000000000000000..46a946ef3a49fdaec3d692af4e590ae182061c04
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210823.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2a90f1744bc738bdd6a4ab6d1a140a10499d49249fb1925297cd2f53cc5753b
+size 713231
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210825.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210825.png
new file mode 100644
index 0000000000000000000000000000000000000000..4b2f5d28bbf876e1408b789358e17993540c7063
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210825.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42d3710aac693c6e4df2622786e46f94c06d0b80100c98000d2b58f8aaa553b8
+size 714561
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210827.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210827.png
new file mode 100644
index 0000000000000000000000000000000000000000..1e0ad8c360724785fffe082c8cf068b4b4548fc6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210827.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4a7b74d925eff00f6018c975cafd8fc2450df90ad19552268ad0573955c6d11
+size 715386
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210830.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210830.png
new file mode 100644
index 0000000000000000000000000000000000000000..54cc902408f89b66a91a24a5456e2d2931a376a0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210830.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbc3710cb7381d9e6bdac4f9378d0c344ad8bb6c34a2e9a46d9b83217ee24db8
+size 715554
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210832.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210832.png
new file mode 100644
index 0000000000000000000000000000000000000000..e9c8a8827b2a4196e1fece718b5c154ea595d889
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210832.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87932693f1533fe2cb8d09ce63477266759d42a05ccef331ab4e6e4d4e24c618
+size 719152
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210834.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210834.png
new file mode 100644
index 0000000000000000000000000000000000000000..07948bbfbef7f0aa8a6f491264060b694a2aa574
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210834.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d64b3173dcd776c7130da0ae7ad64d9201a29237048b18d2f4aa7a93a164d22
+size 720535
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210836.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210836.png
new file mode 100644
index 0000000000000000000000000000000000000000..431ce4f2044f67eea2e2a13f37527ed717447f3a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210836.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a27dffe848fdde839ffe2735cd910b45a143ab5597f266d018da9106789e0d30
+size 724023
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210838.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210838.png
new file mode 100644
index 0000000000000000000000000000000000000000..c0f70783105d14cc60244aeb7a16eca8156fe361
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210838.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9994f067573e1019c4aef32d7e4daac76819b87591e6ffc871b73f1f4cb48d85
+size 726666
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210841.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210841.png
new file mode 100644
index 0000000000000000000000000000000000000000..0ddd01af5811ebd45725c379d4aef4875e2ac3d7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210841.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cedaed4478cc4746fbfe40b251cd8185a4c101378a8321794ffee1b0168706b3
+size 731400
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210843.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210843.png
new file mode 100644
index 0000000000000000000000000000000000000000..d2e3b35474cacccbacdb476a3ef1310ee8685ae7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210843.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92f887ed240b7372acc3c1555c7fc1141cd76a8ceb0adced357841f7d6cdabef
+size 735451
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210845.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210845.png
new file mode 100644
index 0000000000000000000000000000000000000000..e53d514fcf3f2005f42fc95e1f8e71d5456ec253
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210845.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61fe28171d90e0520695aed3f35a1a834546be7dd04523485d7edb4f286ece2d
+size 739792
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210847.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210847.png
new file mode 100644
index 0000000000000000000000000000000000000000..c49141158ef84f97a72a978977e56ab0e2798e84
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210847.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f287dfb3ffce56355e99b26a6d548491a6ffc7ce2bad1da2fd22193f05edd35
+size 741579
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210850.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210850.png
new file mode 100644
index 0000000000000000000000000000000000000000..cda5d3bf1a948fabfde38c4498010521095b79b2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210850.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:371f28fbb5c0f64ded01c94c0ba3f41b0e8df360e563257f31c58ad886c4caef
+size 742361
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210852.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210852.png
new file mode 100644
index 0000000000000000000000000000000000000000..5172d09691fc2c97c5bf5765d5a264627cbc54e9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210852.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:515b7fd574784c1d595dcf95dc81a00f8043aa0a54837558f3cfbcbfa6fded20
+size 741622
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210854.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210854.png
new file mode 100644
index 0000000000000000000000000000000000000000..46ba2cdf9c637e9fbca33b1d06417ecca811a979
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210854.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:230eb0b8a5f6fa9903c6e4ff909cf866a5b3daeab7e94927743826983b7ea082
+size 742395
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210856.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210856.png
new file mode 100644
index 0000000000000000000000000000000000000000..cca2af0cfa66a23e405879d1f51dabb867efb943
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210856.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c4ff06693a3c89c77369eae38fe4a53e3c3d4c8a505a7158ab23ae217e47483
+size 740058
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210859.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210859.png
new file mode 100644
index 0000000000000000000000000000000000000000..994533f404fecefa5a705e708a909018477f028a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210859.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a66070b015f9168e13d0a8345d5aea5526e580523eb3046d084b3eeeb0be88b
+size 736490
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210901.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210901.png
new file mode 100644
index 0000000000000000000000000000000000000000..e10083b2bbd80d13b611e3b16fc972850e025c9b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210901.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec4736581308b517758329994962b94cba00b729e127b2282edc6f86a20b0c5e
+size 734323
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210903.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210903.png
new file mode 100644
index 0000000000000000000000000000000000000000..c391df3abffe1ed896c3d0034f7bb413c56c261c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210903.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7254407fb8db7dea346067403b619cb11ad2258433f6b0d512614948e71e5eb1
+size 733708
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210906.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210906.png
new file mode 100644
index 0000000000000000000000000000000000000000..ebe76a673a960338fbd568cf2cfdaa9bf90a2377
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210906.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca0d78819bc9b23a113e797f6c98c9a3181f5cb1372416b5c96fa09b7fbe743a
+size 734834
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210908.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210908.png
new file mode 100644
index 0000000000000000000000000000000000000000..1de3081afe32939fd6cc5101551d79a2abf9626f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210908.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5123d5989910e4f7bfa067f9b486626f6b661729bfc53dc37896035cf906952a
+size 734959
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210910.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210910.png
new file mode 100644
index 0000000000000000000000000000000000000000..d2a2abd75ccc1dcc19bd4acf1a50c339c9dc6132
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210910.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e013174c993aa775fdd33a874f6d6dfa256e75808e02b89802d1358c12b74575
+size 735104
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210912.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210912.png
new file mode 100644
index 0000000000000000000000000000000000000000..b7c3709603ee8ae5a30e9579688edd72ed193996
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210912.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a2861723906b8b885cafbb7d916837188fd04387351381f5b81310d01e95867
+size 734655
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210915.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210915.png
new file mode 100644
index 0000000000000000000000000000000000000000..1ebf85ad373cb40f99ffb357a39efde5ff393812
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210915.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56c7e0bab77c955fa5d4335fd7e1c267ab9a17e022a3624c711820b77120206b
+size 737463
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210917.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210917.png
new file mode 100644
index 0000000000000000000000000000000000000000..355b903e3fe4eb79b77ec7b9628e39719915337c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210917.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a82f67f022b34fa3681af10f14a644d634cc52137247123f5cb9756796ca379a
+size 736259
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210919.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210919.png
new file mode 100644
index 0000000000000000000000000000000000000000..3fae11ec828915e9b078472c3d25527f4d714f95
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210919.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b97e8374258bdd121fbaee4a4904398c78c1ac5bdd3782be0ce85c2629b5789d
+size 738004
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210921.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210921.png
new file mode 100644
index 0000000000000000000000000000000000000000..3477a86dbe12006f65f0ea67975c739992b7894f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210921.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86e5dff5c5761ead08c2b4a60e30b10c76b6c0f8da7deb61cf6182e0b355d288
+size 738031
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210924.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210924.png
new file mode 100644
index 0000000000000000000000000000000000000000..ef7285e96f19196d425eb31ee5ece96dfbe0bc7c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210924.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:503b71ca10e9ada9b692742578f4e7eaf7e73941060a329aba79337bca98ebd9
+size 734558
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210926.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210926.png
new file mode 100644
index 0000000000000000000000000000000000000000..a2cecac61b6f7494ed956efa0ea2a65d24c754ed
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210926.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:723a08479518d97266adc4983348229080c7787e8b390ba977c709bc33f70c0e
+size 735331
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210928.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210928.png
new file mode 100644
index 0000000000000000000000000000000000000000..61e1b6ec353592716c34e8c151ad09ccf5e92ef0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210928.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c570ab7f2c6f9ae9758137666984216d61e037b7df2694db8e369237a67e5656
+size 733690
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210930.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210930.png
new file mode 100644
index 0000000000000000000000000000000000000000..9514457683af113eb75a9e6b53dde5006ce82226
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210930.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01837efc1087798523c9be894e781260d0a889b6431da0a8b38c706212c3a158
+size 731279
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210933.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210933.png
new file mode 100644
index 0000000000000000000000000000000000000000..0bfcde4e353911055ac9327aed64020819ef1c4c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210933.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b927215bb6006c349d49af0e39628cd91677225a974a622ea308e259dbb6e7bb
+size 729541
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210935.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210935.png
new file mode 100644
index 0000000000000000000000000000000000000000..f15783d08f8f71bcb1a3be862073318873668694
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210935.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:319f4cf86ed87007d35f998b965cfa5b4a19402cb18c5f9acabf9758dab3db20
+size 726810
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210937.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210937.png
new file mode 100644
index 0000000000000000000000000000000000000000..2b9736f16c28ac5909148a023e6efe0b8db48a70
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210937.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b71c71ab66c12739fc5bb926b011c74e4b0d9d6b9c523a32b4d6981a6b5e7968
+size 728629
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210939.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210939.png
new file mode 100644
index 0000000000000000000000000000000000000000..ee044410d377328c4716d9424bd4a233294d037e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210939.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7d36ee79e436f3be5ce59b26983df076a0db95938c74bceb233b899dc801501
+size 758864
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210942.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210942.png
new file mode 100644
index 0000000000000000000000000000000000000000..106e6698e16fcc63b8c1248156b372397d04ffc6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210942.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e125c900a484947af768fa1c8fbcb9f3cd7228a57a65635d657af5dfa65bb1cb
+size 759718
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210944.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210944.png
new file mode 100644
index 0000000000000000000000000000000000000000..f43d95eb89ba4d4c6ca222dd0bfae49d6a5dff8b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210944.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12764cfa0afdc02a67e71c805e063fddc110024d8347b631643137fedcfdf854
+size 759477
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210946.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210946.png
new file mode 100644
index 0000000000000000000000000000000000000000..92b4422ad72d7af3b6a9c3d14b062d70c4ad6ad0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210946.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e924c15502d05329ef66e4bb87fc5f26989296fc59ab3f147c11442a463c78da
+size 758755
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210948.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210948.png
new file mode 100644
index 0000000000000000000000000000000000000000..e242f872d19464e2e585fecbaf71d9033e9c9824
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210948.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba8c10ca2d3c4e3851452b27319076b2ed7b152bddccf78440afc8eceb1be633
+size 757647
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210951.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210951.png
new file mode 100644
index 0000000000000000000000000000000000000000..98543b4d378b3a86d5229f9c5563255d99fa98b2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210951.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:724135b7cfeefbf1e67478d005bf56a1013bc750827e9f0255e16f7f28fe9e10
+size 758286
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210953.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210953.png
new file mode 100644
index 0000000000000000000000000000000000000000..fac88d510322f824f7284c5fe3dae10ac74650f3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210953.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b344f10b74797fc233563d6bb4aff0ad53ae76caac3927fac1e4df6eee019d62
+size 758884
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210955.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210955.png
new file mode 100644
index 0000000000000000000000000000000000000000..2932f76bdba8f49fe23261d5cfc9500494f04d47
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210955.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e63d1b83e70c201edd77c9e4b618770809cf75890f8a8cc0f237aa74020c30ff
+size 762118
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210957.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210957.png
new file mode 100644
index 0000000000000000000000000000000000000000..f499dabc02099fe7d0b4c6669556d94d8bfb3bae
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_210957.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a3f6da08126f4684341fbb0255dfa6e87fa31826717a390bd2ebe1b585c6a39
+size 761002
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211000.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c5dcd7dc01ac169f836ce24d92649af23ac7dd4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fcd65a20ce427fc65194d1a652a61102c4deda89ab71c16426a2c2a6d31cf3f0
+size 763597
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211002.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211002.png
new file mode 100644
index 0000000000000000000000000000000000000000..f83ccaf4b7ada179fb0d1be7cb715853ea667158
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211002.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd07d0ce4376e1437b458d99135de9ef681240d52e4e047b34a776362afacc42
+size 762993
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211005.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211005.png
new file mode 100644
index 0000000000000000000000000000000000000000..e619571145461147bd082d6e30e3d7b3f8328faa
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211005.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2abd1d998bbf00067fb0eae26238b8f65ece5c82e8aeabc5e54a54dd706ac9e7
+size 760371
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211007.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211007.png
new file mode 100644
index 0000000000000000000000000000000000000000..f74f6d1cd5b89f8f79e66b3995b76bb993b186e0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211007.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c5a27f647534f3fb310d3b2be70f47eef2d2a5cbabb11ce589728163b1b1ace
+size 762504
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211009.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211009.png
new file mode 100644
index 0000000000000000000000000000000000000000..389234ebcf8247b1b8f6fed96fb0f86d065fa37d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211009.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90ec38dd87636f1df32b298fd849d3fadebef3941b4a9399fdb54cebc4456382
+size 758300
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211011.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211011.png
new file mode 100644
index 0000000000000000000000000000000000000000..fa512c1c5a2e71ba8114cd5204a08d0672fd5dc6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211011.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b66c92477fb82af36bac5d8b585a44f837aefd200acde975629c5e1408612e5
+size 754229
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211014.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211014.png
new file mode 100644
index 0000000000000000000000000000000000000000..a95a7f95e27adddb8e17a18f2c26be067785da38
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211014.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:131bd1e7373e3df70b8db31a2e5e5758d4f71569e6188e5527ec799b64282d66
+size 747637
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211016.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211016.png
new file mode 100644
index 0000000000000000000000000000000000000000..228aa7845b72e7f97dc1ce907aef46c919c2a9e3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211016.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4367fead2a59bcc62ca8fd665f303b509f95a05074b41010e17f86655844efec
+size 741502
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211018.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211018.png
new file mode 100644
index 0000000000000000000000000000000000000000..e2726ca2f2504dc9698597e5ed1779f42a2f5419
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211018.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f0b817a6e2c31a7ff150c802b19245a71de45e29b58fcebcfc9fc69516e30bd
+size 736202
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211021.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211021.png
new file mode 100644
index 0000000000000000000000000000000000000000..0ac3db1e16b9a2005f5fd5b5b6b53d3f0a9d0bf4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211021.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b646779b03deb4229043c1924ac24c52a0386c6096b4d69f657526d86e4266dc
+size 731109
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211023.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211023.png
new file mode 100644
index 0000000000000000000000000000000000000000..98c371b51c4c5d798444358b4b0cc49842370678
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211023.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f64299bccce8e600137c703558a1a0aa6897dbcb7b1956b7eb02dee1c694b4ef
+size 728860
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211025.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211025.png
new file mode 100644
index 0000000000000000000000000000000000000000..23896ef4df36381956c0186d5284c9e3965cc32e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211025.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3ef4fb5fd432bbdc1503218f849add8d36399d0a8ea2fb101ba8fe2d134656c
+size 726524
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211027.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211027.png
new file mode 100644
index 0000000000000000000000000000000000000000..4e6cfa34051ca4ee3ea081a15323fe26485a2fc6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211027.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e3d89b433e815eb136f6bdd6b567de6c685039fcbb9b3c215c7e0e245123ede
+size 722359
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211029.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211029.png
new file mode 100644
index 0000000000000000000000000000000000000000..633e65a2d28aaefbb2d79b2c55919bdfa7638fe8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211029.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36f7433fca9e21291a0dd26a585a57eeaca480feedee2bdc9b97357c4e509c9f
+size 723239
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211032.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211032.png
new file mode 100644
index 0000000000000000000000000000000000000000..160a283d5d481c39ff19944ea0803d57ede73d8e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211032.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f00a3b4aea911b3b05ed5c86766253d7d58630f138a48aa94cd40f4d516005a6
+size 734430
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211034.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211034.png
new file mode 100644
index 0000000000000000000000000000000000000000..4c33899b885a62ce26951f1251fa1ae0b80fb60e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211034.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7384422c2b4d86b7ab3f5876d7349c71830d024bfe65bbda5973cac283c8e5e5
+size 749943
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211036.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211036.png
new file mode 100644
index 0000000000000000000000000000000000000000..081d89e3d5e4d5e263c1ffc8c3e3663cd5c42a22
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211036.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db14339c34f2feae8a1fbc389686939089f18d144d3e670b086b812640708444
+size 749708
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211039.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211039.png
new file mode 100644
index 0000000000000000000000000000000000000000..2e3bc946ec5099ffb8d9fa8b46ec7a76d40786d9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211039.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:148a050d92cc840a8050f486a334fdfa2b9cf1480f7fdc52c10ea84a46e36db2
+size 811702
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211041.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211041.png
new file mode 100644
index 0000000000000000000000000000000000000000..3ee5573a37d0cb86a40efcef4b8c0ec2e91b6349
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211041.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6deafff239a2feb731ed6bd97d0e5a404679264c610b884ade730e7cc7086d6e
+size 867779
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211043.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211043.png
new file mode 100644
index 0000000000000000000000000000000000000000..c09c133fc2e0dd330238e02424aa8638af84f5ce
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211043.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d5a97409c75189530867fe6e1329f81f0401e665d5a0c9ae2391ffb064486f0
+size 888886
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211046.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211046.png
new file mode 100644
index 0000000000000000000000000000000000000000..9f1bc6c08ad90cbc423d67a65c55ee3d5baa84b3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211046.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00af3b6e1fda1b53ce5fb58e9624d331491b620b57327bdd0b45cb7ce34fb8df
+size 896518
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211048.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211048.png
new file mode 100644
index 0000000000000000000000000000000000000000..7b7e2ff5cf34f765105f14d8c59a54098af1eaf3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211048.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3850f84e5f7df8f4145cb17bb123c5f30cef1fc209732e583fcac3def3a3b82e
+size 900852
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211050.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211050.png
new file mode 100644
index 0000000000000000000000000000000000000000..4038a4d9c480757fb0805aabe477d74d8b971da5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211050.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e393f858d16a4d78780405f3e2f7710b3df7e3b1e747a7b87c5dfc8c9de84ec
+size 894541
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211052.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211052.png
new file mode 100644
index 0000000000000000000000000000000000000000..8278a61a9358f8ae4212c95d707a280939525a98
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211052.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24634f9b4165a49cbc0525950e4b0f2fbd71d680f564e135d6710676857c0771
+size 900330
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211055.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211055.png
new file mode 100644
index 0000000000000000000000000000000000000000..744439fbdd53f47b3060cb4bfa2033115fc08318
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211055.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff9cc1b6c00ae9882745193cd1ae3b772e4bae4774b081a37c7f2adba83f1a97
+size 901870
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211057.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211057.png
new file mode 100644
index 0000000000000000000000000000000000000000..3bca3adc26b3f46b9209c485b29c553534221b56
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211057.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d1cb4f8106d2da6c8de5a1b0c06ffafba0078c47271c4bf58a20b3c2f6c3a10
+size 879607
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211059.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211059.png
new file mode 100644
index 0000000000000000000000000000000000000000..124067b975c1a477e6550d985e51318b54ae1483
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_21-8-8_927376882/20250115_211059.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58e530f9455135a0199a16ce3279f0d4ccd6ada2a74fc9af5555f27c55bddb1a
+size 884378
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055258.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055258.png
new file mode 100644
index 0000000000000000000000000000000000000000..700e8856d2114888b145464574b7a25825013726
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055258.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d6035ef098d8329cf759b7f13744d04d629054a9175709047744be8c0319376
+size 889927
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055313.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055313.png
new file mode 100644
index 0000000000000000000000000000000000000000..32aef6f727de04958e27d71de828718324135106
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055313.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd2ab751cd60d5b8f20a91c57a71a0ed25fadce4b6f5621b649e686527bcc11b
+size 756857
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055315.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055315.png
new file mode 100644
index 0000000000000000000000000000000000000000..4c1dc0c903d7a2b3222d6b9e573116e6174558d4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055315.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2305e250f6fdd0f7ac818084fe99d9ccf328615e5cdcd6db25d26cea7c459d2
+size 749622
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055317.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055317.png
new file mode 100644
index 0000000000000000000000000000000000000000..f0ec6d9dfd20804d0b73690d1028032d1a6b0505
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055317.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:877b8f512ca34fd5d3f232b7e8853586c24087ed0809d375e1ff41067acd1114
+size 742856
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055320.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055320.png
new file mode 100644
index 0000000000000000000000000000000000000000..35b9128f8f42790fc4c16a1e39c295f31b4bff5a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055320.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e35546668a331fc523e5205b5f6c49ac0cfff0cf1ceb033368357313200d8d3
+size 739576
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055322.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055322.png
new file mode 100644
index 0000000000000000000000000000000000000000..f592796f23a5ad31a42e21c7aaff7a96b14b480b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055322.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7123698d51e0dd245b36cb40e9b6283db9d073ec8151b122aacd30c7927fee0
+size 732550
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055324.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055324.png
new file mode 100644
index 0000000000000000000000000000000000000000..8f39471fffebd470a03a4cbde534d3ff93a0cef4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055324.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec95e892543b58227878af8b6b9c0a400f0ba90c390137b64e01561c59fbf95e
+size 731820
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055328.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055328.png
new file mode 100644
index 0000000000000000000000000000000000000000..932159c6aefd84739ee1d07ce169475b9aca38a0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055328.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12403a1572ed45863711320c30f02e4b49701d7acd90300fb87fc2c26163955e
+size 726254
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055334.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055334.png
new file mode 100644
index 0000000000000000000000000000000000000000..6bd6e1dd3b6e569b794021977808227900c0e1dd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055334.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:baec96ec5c96ee7a48c88b8ed9be54002a61b0195282d08771b368c4a228fef1
+size 724760
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055345.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055345.png
new file mode 100644
index 0000000000000000000000000000000000000000..0d57d80862ef8fa5293e13f23c9f9b3a29d8e133
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055345.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e46d117a9af5ef3a849eec80b18b4a01408c0c162bd2828139c770a6fd3dca96
+size 809099
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055350.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055350.png
new file mode 100644
index 0000000000000000000000000000000000000000..ca318134f3f17ffa241a306be0010edd012736a6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055350.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fb447a1699c922345e135ef2994e60862ad3c93548c9773734f2f54fafa1057
+size 814275
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055354.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055354.png
new file mode 100644
index 0000000000000000000000000000000000000000..f4599bb2dc35cd6fb638e292acbddda8d640e9ae
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055354.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:baf16f93901f63d7ee6840f501bdb81ec15be6555e400160be65538475577663
+size 818428
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055356.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055356.png
new file mode 100644
index 0000000000000000000000000000000000000000..4b1c5f3519e95e67ecd369a70105f6709dae7e92
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055356.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f50eb95d5de4959bdd27a5d31d609a791ec94fdab00850903d217e430c79c7e1
+size 819830
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055403.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055403.png
new file mode 100644
index 0000000000000000000000000000000000000000..6d31498383d8d116ea96a48197c71ab8e00e4831
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055403.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb5ae3580fafb04e9aeb1f195d571e9f6b49affd189c7531b76ac80e98a1b48a
+size 827961
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055416.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055416.png
new file mode 100644
index 0000000000000000000000000000000000000000..2c1c3f240ba015ab7af745fa6c3c51c330b1408c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055416.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fa74bcd0970f4c6c59f8ace161df8958bb745905bd157e0e2abba54d6ff7716
+size 807599
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055418.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055418.png
new file mode 100644
index 0000000000000000000000000000000000000000..48b6bac29587708b5ba5df0c139f9606a25ce20f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055418.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d182ae2de65edebaf67de0f5211312f5fada51025a116de9cf738ef0c831d5b
+size 806860
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055420.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055420.png
new file mode 100644
index 0000000000000000000000000000000000000000..a0e7ea34dc313e0246f7cf6ae6016993e0de23df
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055420.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:210d612b47a2a332872549fb45f82ff5a465f10a3122813e0650546fa9e3ea16
+size 811618
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055422.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055422.png
new file mode 100644
index 0000000000000000000000000000000000000000..4f3a78588b4ccaa63b4642c9920bcc43373e2711
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055422.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d86bca2313c1404946e71de66fec00c3785e5fc7e5ccc1231d7cbfeb987118d6
+size 813326
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055426.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055426.png
new file mode 100644
index 0000000000000000000000000000000000000000..aff66add6b76a60299a247b8f125a9d052a372f0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055426.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe2497175193017f637368618252ba6422c900d9896ca4b38d2e7777b3dd7d9f
+size 817459
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055429.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055429.png
new file mode 100644
index 0000000000000000000000000000000000000000..be26e1eecd925a2731fd27e31e4c9820ff29866d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055429.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efda4384a006056afa748f7374790db09f62dc2a41d085e2c26e742dc8ffb325
+size 819022
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055431.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055431.png
new file mode 100644
index 0000000000000000000000000000000000000000..6b18280337057e676b31a34d6a88820a60377682
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055431.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcebadeec8e8d3f1ef85286fca35e555391e29b2411632a081657c7a6b7593f5
+size 818539
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055433.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055433.png
new file mode 100644
index 0000000000000000000000000000000000000000..c0141068ce194d25ab09a3cd9506bd304d7a4283
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055433.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84a076cfd0f34ea6fc125b5a1fb232ad196901105da8cac4414bd87a4ea74d5a
+size 817945
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055437.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055437.png
new file mode 100644
index 0000000000000000000000000000000000000000..8e895f028ff066108004aee95c4fb3e0252fb435
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055437.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc7653cdfac034fc1d91d8d0c9925b0b20d30dbd49260dbf3603b9a26aa9eccd
+size 807772
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055439.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055439.png
new file mode 100644
index 0000000000000000000000000000000000000000..574a8709a7eab75dd476081fb29ee0d917ac329f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055439.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b818764e0f268576ef6707829861606288aa9ce3f93f149d2526316635ed7b9e
+size 797775
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055441.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055441.png
new file mode 100644
index 0000000000000000000000000000000000000000..4536c78e0c8559541916ea6c1c8ab6e39b001db5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-15_5-52-52_7684930/20250115_055441.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e9aabd625cf9609838ea1d2ae6bcabbd5e64a7b942099ddbff74f0911a262cf
+size 789794
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_055920.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_055920.png
new file mode 100644
index 0000000000000000000000000000000000000000..1a9b1743cb993ba6716cabcc2dc2ba2ac0710f72
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_055920.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19637e1884e7f971e6ab3dc4bc289b5e1caf7475e752d0cef439852f63550d9d
+size 665834
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_055922.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_055922.png
new file mode 100644
index 0000000000000000000000000000000000000000..bf5a09bf071cf71f1ac4424ecc99a64718ee6393
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_055922.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0c2e2725eddfcb7f246f62c86e79c9682ef2476df6ea599d326b67900439f30
+size 854957
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_055924.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_055924.png
new file mode 100644
index 0000000000000000000000000000000000000000..ff1619be9ddaef135280d5f4fae245f63ac483e9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_055924.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:903f2ec14a0ce9cc672e618f7e7287ceeca362bec5009b5d298fbc9333a7b10f
+size 828924
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_055927.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_055927.png
new file mode 100644
index 0000000000000000000000000000000000000000..7624095e44aeb246c2be1cea8b7b3ff64a8ad03b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_055927.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ef06e09c39d9c57ae3b420f7d65653034016dc706f6814a5a6f73a4f7c11dae
+size 828503
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_055929.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_055929.png
new file mode 100644
index 0000000000000000000000000000000000000000..05fce045128aecd8622beb6fbbe9f2100958ef7f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_055929.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a28ed96a32a03e9073b3c868d9c6255f36946f2a63557e0b1ecab15e13004e08
+size 820702
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_055931.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_055931.png
new file mode 100644
index 0000000000000000000000000000000000000000..56c4ca0068b25b2da4dce66e0a4636ceae1e6bdd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_055931.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea6c87d182643e13e10fedf0cf508d2ff039da601592ba09d7e7c70dca763d8b
+size 826480
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_055933.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_055933.png
new file mode 100644
index 0000000000000000000000000000000000000000..12cb5197c5a8e9df961b44ffb1ff806a0933dca6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_055933.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cebc20028f2bdf068f8af0fdf8aa691d65d4afd9ab60d8720e5a26eb2c8975d1
+size 761451
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_055936.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_055936.png
new file mode 100644
index 0000000000000000000000000000000000000000..c4fcaea1c25e55d52284aba321cf590dfddfeaec
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_055936.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f13c521b915f9ea867ce51f5b9b8104cb62a459f9103366c9ccce906a28c17b
+size 773508
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_055938.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_055938.png
new file mode 100644
index 0000000000000000000000000000000000000000..22eb6fbb716b2bce80f6872ce53792c2369570ef
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_055938.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38899ffed155b80baca58f8834a2c489046271e1c94388fd529a857fee17794d
+size 779724
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_055940.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_055940.png
new file mode 100644
index 0000000000000000000000000000000000000000..3b9411fa0b65b3388bf1bf53fbc66673423c6ffd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_055940.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cd9c4112460e95e534f15ed68ea9dc387aad69382f17de8668a25a528b6d0ba
+size 782031
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_055942.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_055942.png
new file mode 100644
index 0000000000000000000000000000000000000000..4a200583de87516f50d1253cb6164fa906f06f90
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_055942.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e72107d2f4872d6caf2b71543e0519a88a51ddba56ed1e9c38f1a35382582bcb
+size 787246
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_055944.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_055944.png
new file mode 100644
index 0000000000000000000000000000000000000000..53634144cedd2785aec62d8d6ca7618f3ac7af47
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_055944.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef1d3fba5946d47f7008615665689d7b8de5556f77be7130901876aef8c86e7d
+size 791871
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_055947.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_055947.png
new file mode 100644
index 0000000000000000000000000000000000000000..f3f6c608e0f928dad47cdbe1d23e4756b56685e1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_055947.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:adaf07394c537d67ccd96911c558818e19e7d2864381e3d2fe06f8e1c691b01d
+size 794798
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_055949.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_055949.png
new file mode 100644
index 0000000000000000000000000000000000000000..33d6f51457da70e206993ee621dd57d988e52b62
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_055949.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7729d44d28bc7f6cd3f26c34fd85339d34ecf7c0a9cfdd894589d810365923c0
+size 797517
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_055951.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_055951.png
new file mode 100644
index 0000000000000000000000000000000000000000..d14f2d0a383f66753d19627e64b90617b03c97f9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_055951.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a793fd4ebb567d900c89270a56a73a46cfb95457d71127d3ac8b1dcaf8f2eb82
+size 810122
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_055953.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_055953.png
new file mode 100644
index 0000000000000000000000000000000000000000..69c41ba2adc6098dea87acfc5a39f41dbeb8b832
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_055953.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce920da4b738d7ccccd13f46ee606fd53806c7845912f594342a2ae3de1e697f
+size 800181
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_055955.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_055955.png
new file mode 100644
index 0000000000000000000000000000000000000000..bdfab6478685acddeb6123aff1e132c819c4750b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_055955.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09f3bade9fe172c6399d10aa1f62ce415b0c602d604486291348c1b8bb4dd5e5
+size 784048
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_055958.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_055958.png
new file mode 100644
index 0000000000000000000000000000000000000000..3b3deeec402728913b5a52ae19d35ce9acbcc9b9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_055958.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad6ac6a3a18a9eeae618693a65edb9d3ba94977b7076c505f868104784c3868c
+size 776720
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_060000.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_060000.png
new file mode 100644
index 0000000000000000000000000000000000000000..904e997aee3d79ef5c4fe8b7d305b544b3dae2f3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_060000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09de00a3725367fd9818ac1e2cde6e052aa00c7b8b9b589f39af1223d43932f3
+size 774377
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_060002.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_060002.png
new file mode 100644
index 0000000000000000000000000000000000000000..94b13cc7adfb26e62396dc67cf356cc25e7e76ec
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_060002.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2be8df21a88b79cfae7f854856f416ff72cc9222145cda3f51e78665588de9a
+size 775708
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_060004.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_060004.png
new file mode 100644
index 0000000000000000000000000000000000000000..c646dd20bd6152eb4ce6ce239ac1108ca27f560b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_060004.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f06ff2549bf9ad348db5b21624d95b5e82f43e49b74662e1b735ed31fbfd2ce
+size 773439
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_060006.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_060006.png
new file mode 100644
index 0000000000000000000000000000000000000000..46fac2a68a7b0b7636837b6e0d0705d662ff86cd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_060006.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:538d492c05a292195057a36a928c01dd96ff4ce619ac8fbe30ca6423bebfdee7
+size 779131
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_060009.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_060009.png
new file mode 100644
index 0000000000000000000000000000000000000000..c8f8ff93a78d3c05aa08fd0fdbc2376beeeea354
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_060009.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80227f62d9f403df3231cb9e4b7dff4139813dc006a0e51b1723bdc0d4cfce11
+size 784104
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_060011.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_060011.png
new file mode 100644
index 0000000000000000000000000000000000000000..26d8f6ff4040a50321f75d92236ad3fcbbfb7ce5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_060011.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba15f0cff92a2858aab64642ed06a14b36573397dfda0ef2b2d974fe3df4382d
+size 783470
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_060013.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_060013.png
new file mode 100644
index 0000000000000000000000000000000000000000..abbddd662345e8fcdb99f06cab96f134962cc41c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_060013.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:227b63bc4b0e60d981e23113ab9f243620b6fc9550ead5ed0a9e6d1b9c9dd544
+size 786606
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_060015.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_060015.png
new file mode 100644
index 0000000000000000000000000000000000000000..146704ec81a5960c014288c047db9b0284dd128c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_060015.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4337fb2f6a0e7a0a0a39f7a8e84958b077398ed9b57ac2833c61a946d0039e5d
+size 786609
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_060017.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_060017.png
new file mode 100644
index 0000000000000000000000000000000000000000..4d3dc2a8a22ab2974ce8bec52d664df18fc717aa
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_060017.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7cb77515d5ee9e0d6344f14bf4bc6fa71f7236c8dd04cbd00619ea479d60c6f
+size 784947
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_060020.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_060020.png
new file mode 100644
index 0000000000000000000000000000000000000000..1a8d8d0402183a36c32f9b045d52f03be67c2da3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_060020.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9538a97ed8692319cf16cd8082ad6f9ec20f4158eaae0155c6e4c5478cb227e3
+size 786415
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_060022.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_060022.png
new file mode 100644
index 0000000000000000000000000000000000000000..8f5c6b8d63172d5e9b23552365e02b7a6a818199
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_060022.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68f81530f02ab4011e6221f147e4623f316c2fc8be622c1e86a59fb948cb5bc7
+size 781064
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_060024.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_060024.png
new file mode 100644
index 0000000000000000000000000000000000000000..466c345955e9c4292c1f0a7a889614399d55b31a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_060024.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08cac88512038b35943084a420bf9d74873e229671fbdeb28939b7e2741c49c6
+size 796463
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_060026.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_060026.png
new file mode 100644
index 0000000000000000000000000000000000000000..35f28564943a498e630bf7fab649e7c41f2c6b6e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-16_5-59-15_1660651136/20250116_060026.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31b8f0d9da44ef7e987737a0fa1427dd52cb8290d82f2f322a2fc7b77e9ac11f
+size 623604
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-17_1-46-30_127052251/20250117_014633.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-17_1-46-30_127052251/20250117_014633.png
new file mode 100644
index 0000000000000000000000000000000000000000..41777972812d85167cc27591f268b7f752d474ed
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-17_1-46-30_127052251/20250117_014633.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:983702bc0f72662b119809717ab1bfdab9dbf77779cff280a00fedb10d7b7a5b
+size 697546
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-17_1-46-30_127052251/20250117_014637.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-17_1-46-30_127052251/20250117_014637.png
new file mode 100644
index 0000000000000000000000000000000000000000..70f36de34512db1aa4188c3ab3c84b85d217a3ce
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-17_1-46-30_127052251/20250117_014637.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abed2cda6fea86ec5a3f59dd84e63804dcc79bd6bbddd596a7d8f7163996612a
+size 855370
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-17_1-46-30_127052251/20250117_014642.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-17_1-46-30_127052251/20250117_014642.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd7670d6b010a8d29341ea37f412c2caa5bbb3d7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-17_1-46-30_127052251/20250117_014642.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f70a0a3c2d277ff75ab3716de476f2e8fd63ee4ce878a291fd000d6fb481dd17
+size 835836
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-17_1-46-30_127052251/20250117_014644.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-17_1-46-30_127052251/20250117_014644.png
new file mode 100644
index 0000000000000000000000000000000000000000..91183738bb1361fa8fbb558e63d17270de45758a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-17_1-46-30_127052251/20250117_014644.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb3eedf1130385daddff01eeedd7b1f1a718316538345da7b3302776ae197e53
+size 799809
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-17_1-46-30_127052251/20250117_014646.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-17_1-46-30_127052251/20250117_014646.png
new file mode 100644
index 0000000000000000000000000000000000000000..d3580d54b066414cfefb24b3b664fe68a60db8ea
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-17_1-46-30_127052251/20250117_014646.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7840e0eeeacacb38ea52df562ddf2b0766637a714229cf8ab10cd817eaacc90f
+size 791790
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-17_1-46-30_127052251/20250117_014702.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-17_1-46-30_127052251/20250117_014702.png
new file mode 100644
index 0000000000000000000000000000000000000000..7b5c40cf746d5dd048ce90050efaaa03d2629212
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-17_1-46-30_127052251/20250117_014702.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e7e36f3d4e6c7f70a185e0ad3c862314860a885db6a9de5dfe6d35c6ba4dcdf
+size 716618
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-17_1-46-30_127052251/20250117_014704.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-17_1-46-30_127052251/20250117_014704.png
new file mode 100644
index 0000000000000000000000000000000000000000..ca55003241ba7310b917f8cfb885e0529bab5ad0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-17_1-46-30_127052251/20250117_014704.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ed6b41fe50ce7a6a0087ac34458cae6f03abcf84c2f3bd0a32ded2b599a64f9
+size 717467
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-17_1-46-30_127052251/20250117_014714.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-17_1-46-30_127052251/20250117_014714.png
new file mode 100644
index 0000000000000000000000000000000000000000..10770572cc1ff9cd55414a3635bc75d5a36bfdc8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-17_1-46-30_127052251/20250117_014714.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15713aa9414942f6e261f6dcf32254e6ec9266ab5ca3302ca6dbe47922f54b74
+size 723270
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-17_1-46-30_127052251/20250117_014727.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-17_1-46-30_127052251/20250117_014727.png
new file mode 100644
index 0000000000000000000000000000000000000000..8adbf39a86fe7d3b295bcad327db645abf7dea18
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-17_1-46-30_127052251/20250117_014727.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:991e6f67e3f2e7bae1ae1a65da3970e31c3c647ae807982d0ed34f1fbc7e82b2
+size 689971
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-17_1-46-30_127052251/20250117_014729.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-17_1-46-30_127052251/20250117_014729.png
new file mode 100644
index 0000000000000000000000000000000000000000..4d80044934d55dbbc897d57dae15b65825b1d159
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-17_1-46-30_127052251/20250117_014729.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c358fc1cc23002da45c4994011f90061c5e90241bffa1369e1389b54e02e0cf8
+size 684969
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-17_1-46-30_127052251/20250117_014732.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-17_1-46-30_127052251/20250117_014732.png
new file mode 100644
index 0000000000000000000000000000000000000000..a4b048ed4d609219f9b48b56e80800c0e1e01b51
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-17_1-46-30_127052251/20250117_014732.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e20a0d81e778937ffe13aef6733fbc9802c98450beb73043439f59da16f5397
+size 676048
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-17_1-46-30_127052251/20250117_014738.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-17_1-46-30_127052251/20250117_014738.png
new file mode 100644
index 0000000000000000000000000000000000000000..0263647891f7d982be809f3d7099bab2efdf8a1f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-17_1-46-30_127052251/20250117_014738.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28eb6060836cb76aaefd39d05813da512ab7b537b9b43a8b065f4ef2d4973bc3
+size 689449
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-17_1-46-30_127052251/20250117_014751.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-17_1-46-30_127052251/20250117_014751.png
new file mode 100644
index 0000000000000000000000000000000000000000..26432d10533230e8d85ca5e0a041828e380670c8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-17_1-46-30_127052251/20250117_014751.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8047b51cef77fbbb8525e90125a4840baf9319d5b6789bdb49117e7e26889822
+size 722817
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-17_1-46-30_127052251/20250117_014753.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-17_1-46-30_127052251/20250117_014753.png
new file mode 100644
index 0000000000000000000000000000000000000000..c2084f02003f66d39cbe4cf6765ead09a8741d04
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-17_1-46-30_127052251/20250117_014753.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b73d505348db7d6f316da3e33d164832b271e56fa144fac80760be97ac9bfdc4
+size 731041
diff --git a/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-17_1-46-30_127052251/20250117_014800.png b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-17_1-46-30_127052251/20250117_014800.png
new file mode 100644
index 0000000000000000000000000000000000000000..c33eb5def3dbb3e2337a0f1d978008e99fd9ef0e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_long_updown/2025-1-17_1-46-30_127052251/20250117_014800.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47b7abfa9a1ac1c6d6f2a5a78d32703ddd88b52cd3159025605b40577711c8a8
+size 304640