diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053849.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053849.png
new file mode 100644
index 0000000000000000000000000000000000000000..24f34b6dd5a8acea4ef8961165c305d66a2fee3f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053849.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0e95652a40f9a53cf92c252fa40af5dea4b70d9dc614681436a9959c72ac162
+size 472361
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053851.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053851.png
new file mode 100644
index 0000000000000000000000000000000000000000..707397eca8c70504d0d9d575a36fcc398ab67a91
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053851.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6112ff89154e4d39c15af9631d7c187038015f3152621bc990e35df788033b5
+size 629878
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053853.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053853.png
new file mode 100644
index 0000000000000000000000000000000000000000..09f7795a54a7cc8ba94d387a6801ecd8f42b256f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053853.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b24e9922f2d5a83565f4d2e9b752bde961848fcfb9b79d062ac556129475a1b0
+size 622713
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053855.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053855.png
new file mode 100644
index 0000000000000000000000000000000000000000..7fdc36ad87d16536089e705b20c6dc429a2aa928
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053855.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36008adeefccd74180404f2e1b3e144367baf61b01453599795ebaff4019f2bf
+size 730826
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053858.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053858.png
new file mode 100644
index 0000000000000000000000000000000000000000..acf6727b8c29f16047c33a36bf93b45d035f7b73
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053858.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:738f8e596a168aa86c9934aec15df917f06dc4b624a48e57e29acb0c5d122724
+size 735132
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053900.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053900.png
new file mode 100644
index 0000000000000000000000000000000000000000..03c5f6685bc5cff9054a545c37508ab91a632809
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053900.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc415077bcebb2d42ca5e8a4a0a2872086d7ed6267560f01d4fcbd14cbf36110
+size 682371
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053902.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053902.png
new file mode 100644
index 0000000000000000000000000000000000000000..8bacd3d6110b25257677ce0b95da12da19b4b5dd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053902.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d39e0502a1aa349a9f7399d61db789b7976ad13fbe1f7c83c2c7966f723e5b7b
+size 642822
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053904.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053904.png
new file mode 100644
index 0000000000000000000000000000000000000000..5faf3569a87bd3973070575adf5cfc1ff733497d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053904.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3c0976da04bf9f542aa092309c5d12781a8b4ed470bcad9eead61f7dac6b8bb
+size 639683
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053906.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053906.png
new file mode 100644
index 0000000000000000000000000000000000000000..d2891d6fcfc60665c036e4910679f2aa5dd94cf0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053906.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62aea2c20e2fc514d09c09f18e6e8ffaa3ae720b9f0a83cfcb1b52d6f54ebd29
+size 636137
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053908.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053908.png
new file mode 100644
index 0000000000000000000000000000000000000000..ffeea8c840cf31c6c25d6a86888c6b570db1756e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053908.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7363fc8e596c33f3fb45d96ff2634ad146a57ca0ee8a73837d7cb354c3c1aaf5
+size 676790
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053910.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053910.png
new file mode 100644
index 0000000000000000000000000000000000000000..fc2cbe20dc55ba63cebe6c3f41cf4519a31f43d8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053910.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71ab318d2d7bc5b2bb34d7d1fb379bf329b0530e23fa398dc4a4bdeb87140da3
+size 675884
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053913.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053913.png
new file mode 100644
index 0000000000000000000000000000000000000000..c9ffaed06933b46f4cd8d1b5d738cbcd48618ed9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053913.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:980aec57b85d4e718d6b092d91a458615eec54a017921ff12ac1067de1f57fdf
+size 716311
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053915.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053915.png
new file mode 100644
index 0000000000000000000000000000000000000000..810c8ff65ebd0e50df2d890b444f2b36366b3585
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053915.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c4de6b5af2c1f946a2b952eb93fd32bb0ea4148a4ccb893b3a02e5b6420d48a
+size 720133
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053917.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053917.png
new file mode 100644
index 0000000000000000000000000000000000000000..2ef4f423d86784a8ea660494b1c2fd7ff71c1ed4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053917.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0a19d680b9332d2a21bd6b26a934ea39b8aad206588b6ec884e7a8581aaae54
+size 726690
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053919.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053919.png
new file mode 100644
index 0000000000000000000000000000000000000000..d1be7641d62a7eb6775257a83127eb420043d9b9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053919.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7977654862cbe43ae79c3257127808c0a7436869da84ab8498eb7c5c3c9bc8ff
+size 732209
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053921.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053921.png
new file mode 100644
index 0000000000000000000000000000000000000000..4eb99f35d4d51a35b151cf88a94ca1c93b11e3ef
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053921.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80e88c507d65a7af6730a2972ce695afbdac69a651fa085bc4e6de017b09153d
+size 737478
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053923.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053923.png
new file mode 100644
index 0000000000000000000000000000000000000000..b2f7ed31981dbac043bdfa10947cfcca3cfa6ffe
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053923.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c08f5a595e22f3ee090887ee316425ca712c82d632b83e0a35822dd368caf337
+size 745907
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053926.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053926.png
new file mode 100644
index 0000000000000000000000000000000000000000..d7fd189b8ef7373c4300d3fbbe191c72b59f5625
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053926.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd4949326b1a443d324f38950719321c58c3e934dbeacd08163f279bcab6b423
+size 744674
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053928.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053928.png
new file mode 100644
index 0000000000000000000000000000000000000000..b287bfe627b1217108416b6bae163369d632625c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053928.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e35ef9263eba71baeb4208547b0b9d39facd83f592c142f9fe42bcc1b26156b1
+size 743281
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053930.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053930.png
new file mode 100644
index 0000000000000000000000000000000000000000..42c1c23c1f791a4221c55182c8ad0f5a740f4dda
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053930.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:892eded39d0cdc5216e041f3afad59a1daf53e4c3d8ac8e4d747724861d4da20
+size 746603
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053932.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053932.png
new file mode 100644
index 0000000000000000000000000000000000000000..12e1782885d6b1f57d908f6a473f852002420be1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053932.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b0e03802331e3c4fc83b7ba11a49a8c9e6fc873ae98ea2f4eeba30df6e10386
+size 742570
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053935.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053935.png
new file mode 100644
index 0000000000000000000000000000000000000000..a2954155a40f471d5fdc98babc8b4efe0e09a552
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053935.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8881e72fb70e92bc791c65e740839b476db34bd88ebab04823f2edd71d31a266
+size 736163
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053937.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053937.png
new file mode 100644
index 0000000000000000000000000000000000000000..3482064bb3aa2ab831446cf52ae9cc7484a07954
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053937.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:604d702e358e08605a6934bb11439160c7febf2206566b587b44abffe83cee33
+size 727157
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053939.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053939.png
new file mode 100644
index 0000000000000000000000000000000000000000..1e41c08d8c38e69bcb327b4886c5f2aac975f8f7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053939.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e5ac7f885bfbc3de45879fbf97206f33f604d41650cdc2449a5106201fbc11e
+size 726816
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053941.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053941.png
new file mode 100644
index 0000000000000000000000000000000000000000..33e9a7e9544184e428ac4f3049514f3a7b66cded
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053941.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ba26e6c86390339b08075d2319258d84ab4c6d27e78081553cd0988a7454b3b
+size 725990
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053943.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053943.png
new file mode 100644
index 0000000000000000000000000000000000000000..c04465e52c54a77315cd821fc58391d616a004eb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053943.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0f9679c44add695870942a054a0d6bbbd336eb76b83e4cb9783cd2f32541ab8
+size 723072
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053946.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053946.png
new file mode 100644
index 0000000000000000000000000000000000000000..5e0131a712324c1112c355494601dd9eaf3a6e6e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053946.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8def620f54df155c0e836321f3b67791372010b1b7be4e9d06c4d83c61247f7b
+size 717577
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053948.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053948.png
new file mode 100644
index 0000000000000000000000000000000000000000..c6623109a95675483e198786b5df0566ca7f0772
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053948.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2ff4b36050bf22d4f9e93f1c5dc993ece6d9dc25991354c1e9dd88df1f1bcd1
+size 720314
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053950.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053950.png
new file mode 100644
index 0000000000000000000000000000000000000000..d6354834b608f98cb7bf9e7ea5c732cbab99780d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053950.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c66d22455d37815772603c7208114915e67d64e8092b76a95a4078f87709ff38
+size 730739
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053952.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053952.png
new file mode 100644
index 0000000000000000000000000000000000000000..3a64ffb200287a2e4d426078844ee988d905923b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053952.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:019c12381362dcbabc2959b9fe5497f2dd5b5f75ea5513145563128ce638918e
+size 733917
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053954.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053954.png
new file mode 100644
index 0000000000000000000000000000000000000000..ff0a65fa416f78fb5c9988994725c8c6430f197b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053954.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38d641ac9b4609dc690515323cac6485338aac24eeaed5eb17730ff692b2696b
+size 738368
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053956.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053956.png
new file mode 100644
index 0000000000000000000000000000000000000000..5337077bf6c06f0e5b878930d47832e16b0ba29e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053956.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d86c0d7dcd3a58a0905f0f28f541c069ce479cbe201cc833ec8bf43238e3cb05
+size 746204
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053959.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053959.png
new file mode 100644
index 0000000000000000000000000000000000000000..096ce2c5cfb5ad5aa1ea7b964907ec4dfc3581b1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_053959.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62e4c608911a05524cd87c69b4570466f322d9b19f060f1fb60d02c40f4e7a4d
+size 752018
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_054001.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_054001.png
new file mode 100644
index 0000000000000000000000000000000000000000..1402689295b6ccc87154097c036bc5fd71bd6720
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_054001.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dac0505413af9598bf114841b01e7ccb3f85b9d16a85db91a7cefbdd0545ddaf
+size 753282
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_054003.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_054003.png
new file mode 100644
index 0000000000000000000000000000000000000000..39b4dfd57ee4b2801268f20af3a108295111a424
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_054003.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f14f3751d707387c58934869435165d71232a0d2d4c631b2088b73f6a8511705
+size 751749
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_054005.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_054005.png
new file mode 100644
index 0000000000000000000000000000000000000000..5f60c9f487d350f517f88b3516de8c59cf6ee7aa
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_054005.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b365da78241a7a6337c898753c03e5710546e30fe70b01c2a0d5342007240062
+size 749270
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_054007.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_054007.png
new file mode 100644
index 0000000000000000000000000000000000000000..23201867f8b7ddabf3522f3ddd8b28bf8bb63f2a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_054007.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b42c24ce471ba47de1151e7338f01067dbb460a68303b5f035e821867b90525e
+size 752439
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_054009.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_054009.png
new file mode 100644
index 0000000000000000000000000000000000000000..de2af247f820c98f2dca53d19d0e4580ce713796
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_054009.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cf7415ffdf2b9bb31804730155e3d2e5b71629e038f8edc0afb8605af8120e1
+size 757319
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_054011.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_054011.png
new file mode 100644
index 0000000000000000000000000000000000000000..8e8852c959a4c36900b81874928f113c42c5cb17
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_054011.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7923570ff25c57eac485ff17685f126a27e1f4efd7b66ec0ece38fe5f618669b
+size 758051
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_054013.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_054013.png
new file mode 100644
index 0000000000000000000000000000000000000000..0f4d2af1d4866110ba950b30202750c07fd79d06
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_054013.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42ae0485bf0126f8c8df0fec11ad802ce0e0d488342cdd23da2f539ed49c01c5
+size 776316
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_054016.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_054016.png
new file mode 100644
index 0000000000000000000000000000000000000000..8c2c9f8bdd0feec32a51b3a276e7c24456bed174
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_054016.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f8b46bdc03b3792e6078fcbb938b12474d7b37e27042ddd35361680fe2a7456
+size 786854
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_054018.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_054018.png
new file mode 100644
index 0000000000000000000000000000000000000000..5996a2968394210e5826d15523f6a6da826782ad
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_054018.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f86ab66b9e23dc1378d211655f06a6c0fc31d971a57f1aa11e7e28f89002c9ff
+size 809088
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_054020.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_054020.png
new file mode 100644
index 0000000000000000000000000000000000000000..e4cb7e848d56c20f432239bc5c6a30bc01f8adc9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_054020.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f673d1f0f81a62232b4fd7a006fe489afce21475d75e6031c472f950d3a880d9
+size 807285
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_054022.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_054022.png
new file mode 100644
index 0000000000000000000000000000000000000000..9bc4c1865804f0b87331c01a2e442a57db0a6a6b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_054022.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:302bc4a1aacbe266d3632f759cc5d40409fc0f1be1970279cdea39330c8a8063
+size 804846
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_054024.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_054024.png
new file mode 100644
index 0000000000000000000000000000000000000000..844a102de1d332b24fcfcba427472588a055afc9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_054024.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:683ef0ac9be8959c63382cf0ab113aab3387d533fbbe0b2e8170f9251e9172ab
+size 803331
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_054026.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_054026.png
new file mode 100644
index 0000000000000000000000000000000000000000..73fcdfbc35ee388f59fc24534c9c671fecd20dee
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-38-43_914696/20250119_054026.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4772b03e29afe4ea12fffed10efdad178b0e15cbb32f5565ad0b7b230d1e2556
+size 758638
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084109.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084109.png
new file mode 100644
index 0000000000000000000000000000000000000000..8293b95ff6635dde33a824f9b25201b17aa93d80
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084109.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6aa44d5db1aebaf81677bbd2aedfc2f2a1b4df95e7c9df4b7c98289153c50178
+size 823342
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084111.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084111.png
new file mode 100644
index 0000000000000000000000000000000000000000..997c64d3ff5098997260d87575b6661b1cdd4c08
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084111.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15d4f1444c8fd2e84bbf2af068bdd88de47f87a93c4ca5455eb482425ae6f357
+size 678836
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084114.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084114.png
new file mode 100644
index 0000000000000000000000000000000000000000..2a65b8cf8a52071d903781fd9204543c46a1d7a6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084114.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6edc1f91bd4e8406afc775bd0869a364471af9ac5dd7824c53670d46a6b7cbd
+size 663632
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084116.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084116.png
new file mode 100644
index 0000000000000000000000000000000000000000..05f5860063ac46e4efe02a5520156d135d60b981
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084116.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8868d85702d49a9abef9844a899a2179e4f6c2c094a596ce5cb7de05dfbf694
+size 655448
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084118.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084118.png
new file mode 100644
index 0000000000000000000000000000000000000000..19d1f01761c947266bbc1f872db5d620d4ebb0bc
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084118.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90283f018d3224a7bca2f8ea743a32c13d15cf0b6b1bb0c30965c035f6bdcbcc
+size 670776
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084120.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084120.png
new file mode 100644
index 0000000000000000000000000000000000000000..6e2352de3fc067a94db71d532c8a67df78ac4401
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084120.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98b99169f2501512a5bdbb7c777b4aecb8daec0afeda43ab0852bdc3efc77ec4
+size 789696
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084122.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084122.png
new file mode 100644
index 0000000000000000000000000000000000000000..c2e72a4eee33dda91b142312129f686c1a823ce8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084122.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:006777b51b2447b872a6511c986619bedb4f1dfa262e382eccdbbd027e41e46f
+size 826888
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084124.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084124.png
new file mode 100644
index 0000000000000000000000000000000000000000..1b415c7c12a44d7f4803237fea9b2de311e30bb8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084124.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72c7b1b607fc43a0694ffa01e58488ac5df1aba7ad98681ba78b3e62b9e5c74c
+size 775677
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084126.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084126.png
new file mode 100644
index 0000000000000000000000000000000000000000..b3cf9762b12c49ae6832d757c9be20674c1bad9b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084126.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f676796789c2a2aaea788732c3e7e5af40a4e5eee65028575f77f4dc5b28a9fa
+size 755475
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084128.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084128.png
new file mode 100644
index 0000000000000000000000000000000000000000..4f5ed39559b4ade003926c87f8ad828408ac73fb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084128.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99067f47f190df846e1aa43e0ca26c939b0c86febf254f46ae99dd3fb5fbe522
+size 751678
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084131.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084131.png
new file mode 100644
index 0000000000000000000000000000000000000000..565e586c8d4d375714ea67e6d8540107606808a3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084131.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8df31761580e4cc550f91b770326267291b7f95146c4a76c979fd7df6f7fae61
+size 746670
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084133.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084133.png
new file mode 100644
index 0000000000000000000000000000000000000000..483eb727e90efcfa847e3b99e0c7094d74864c10
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084133.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:367e510f13d3c03bd3860d58bae54ab488f4dba0eb7c4b2a9f21e1845ae2a332
+size 738858
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084135.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084135.png
new file mode 100644
index 0000000000000000000000000000000000000000..b33dec629366b62910249e5e5d47773200b7ecfe
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084135.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b22c3ed66c05f1a18d2ad4d8ea337083ce42db586aab62320f1a509b9d2eafe
+size 780904
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084137.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084137.png
new file mode 100644
index 0000000000000000000000000000000000000000..efe0d0d2c0948d45991fd1365b1570160f9f38e7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084137.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1530b70517c113e82ced373b0fff66a6dc8deef9ed41d76eee0b8856d01ceddc
+size 773722
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084139.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084139.png
new file mode 100644
index 0000000000000000000000000000000000000000..218e8e3408187ff4fe8abd99aa8cfffbd79a23ad
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084139.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1b6cee196fd329bb45ed0f2e484186f822965957202b7075bc9ff18fd821375
+size 772231
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084141.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084141.png
new file mode 100644
index 0000000000000000000000000000000000000000..aceb7c5d63de44ea4100eb557a28f610a71eaafc
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084141.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4f39cbf52de84b3fbc7fcde865657bbc9fa5b16365d8d7b61457d634f5fe7cf
+size 775366
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084143.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084143.png
new file mode 100644
index 0000000000000000000000000000000000000000..32eed63f9038b6c7fcce4a2450a6777fefec7a1e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084143.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f9927e5f339535f86455d1c9c23563bd09474d6dd857a608e23a5d9129425be
+size 777244
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084146.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084146.png
new file mode 100644
index 0000000000000000000000000000000000000000..ab494cacbef0dbf39d6c2ad66cecdd0fe79b317a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084146.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8f5b30a7ee362ddb31e995eefc26c92fc42e6df22e0d5e0e2fff93486f5838a
+size 782755
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084148.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084148.png
new file mode 100644
index 0000000000000000000000000000000000000000..8306aa0e41b2f3fbe057d3816113db5a1ee6c530
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-41-01_959695/20250119_084148.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4ace5d1999b01528a56eff209c6017fce8c5b051eb58860b7ff723ff999880b
+size 824984
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085008.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085008.png
new file mode 100644
index 0000000000000000000000000000000000000000..c85dbf19f64206da74ba4036c22e2c69f80d6d2d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085008.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29bc85e8bacea860c69e734be2327766c8e810a1885e4ba61715a0bfaee69ec7
+size 777261
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085010.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085010.png
new file mode 100644
index 0000000000000000000000000000000000000000..4afb5f6ad3c7a350c37ce698df6143c12b0768cd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085010.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc76564027d53f9956329ceb275d158f3bf1b5d360fd873d8f69a28063396e13
+size 810614
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085012.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085012.png
new file mode 100644
index 0000000000000000000000000000000000000000..27fe97bc90d71951c4a4a5659e3d0f8e53382612
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085012.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1dbbe2082888cec5b54a50ddb7df5e47d839666c654c20eea1bb0d175ecce7e
+size 804113
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085014.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085014.png
new file mode 100644
index 0000000000000000000000000000000000000000..a61fe79684a5951a9d2b2ae61bfa06dcaaa2a4a1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085014.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6520c4f98bc0ad04b1140419356b34e2711c0cbe15026652fdd8498f7ef7ce93
+size 802048
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085016.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085016.png
new file mode 100644
index 0000000000000000000000000000000000000000..aedb4ce995bc63147e88bde1862c9b26509c6fc5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085016.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71c6a3d787658945364f5b3701880664f300c8a23b510ede4b73ea81e0c47df3
+size 795419
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085019.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085019.png
new file mode 100644
index 0000000000000000000000000000000000000000..1bed3b5ca8ce63e3527559804a08bafb3d21a5e3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085019.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b868178a90633ab5b041490d109380b95e96cfb0d9fc2b3c743e127dc6fc6cf
+size 795460
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085021.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085021.png
new file mode 100644
index 0000000000000000000000000000000000000000..7960d0121e54f9e37f5df04cfd07eed89cde3df5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085021.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e21ae56f0a37a2f162e0a6d21425483e4fa444ebfe879d7b9d466b04f5944217
+size 798877
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085023.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085023.png
new file mode 100644
index 0000000000000000000000000000000000000000..eaa9c7bf8834d348cc8aa1e32fd9914423637777
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085023.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e19fff0b74e8cf93fcafd0a1165291cee0a9efda99b1b77a0ac912219b28a45
+size 804388
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085025.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085025.png
new file mode 100644
index 0000000000000000000000000000000000000000..b90bf1c0f3a15975b543fcd7de645554b07f88d5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085025.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0bc407cc13c38cb8e35562cd0e6a3587b561f06f2205b2a216fe710b73ac41f0
+size 806233
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085027.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085027.png
new file mode 100644
index 0000000000000000000000000000000000000000..cfc829540c129e2d82373c9741996382ad056dd1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085027.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea4027b40d774fa7db7ed600c527380334d8a93f85a8e0379d2f6d829677d18e
+size 813660
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085030.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085030.png
new file mode 100644
index 0000000000000000000000000000000000000000..2b218245357dc1214d710ae90bee7565a529d0d9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085030.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef8e3aa18fa4c3801211985b5fb9eee32e08bde4ffec171bbfedab161f50013d
+size 820752
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085032.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085032.png
new file mode 100644
index 0000000000000000000000000000000000000000..1f940df0dc569b3158bf8eb00b1633049252972f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085032.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01d7d8b6c6e289d74d3063a42e25318f9a3d689e54b6f5880df7df8c1536b846
+size 825692
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085034.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085034.png
new file mode 100644
index 0000000000000000000000000000000000000000..f140bc47f5c207c7cb087aea8bb7963bd09f5f66
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085034.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2ba936cd91e12d719924003e5cb34c9ab1067804176d6cbc8f7287882240bda
+size 834396
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085036.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085036.png
new file mode 100644
index 0000000000000000000000000000000000000000..db287af32ecb2a778f8337ae3bb5d194218e4e1d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085036.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec3965434de1aff17173ade8f2460bc51b4f378f698cdbd3ddae9795f6c90e6d
+size 837901
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085039.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085039.png
new file mode 100644
index 0000000000000000000000000000000000000000..f1e39406e81a03b8d874f2ef47f4dd249383b39f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085039.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c361262ded3ecc42bb61824af2971735fbb9536cd9d7a8d693c79bce4726d032
+size 840002
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085041.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085041.png
new file mode 100644
index 0000000000000000000000000000000000000000..c39e6d096dfe6f47cfb6c62bd071bd03f87f55df
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085041.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b45f870ee86a597418cc791f2a4f0661a8e8225d5b7972d6de59e67035ea6a3
+size 844772
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085043.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085043.png
new file mode 100644
index 0000000000000000000000000000000000000000..7a32d95b37860bc3f1c7eb0ba412eba50da8a184
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085043.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be8164ec111cad5fda24a8ee025615236bd031e179ff4644e89394f420edc1bb
+size 844289
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085045.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085045.png
new file mode 100644
index 0000000000000000000000000000000000000000..c30ef312f759d684a4fc752b163ac5d1e0f377f1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085045.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3cfbbcd05a0e85003e70660e02a92af0ed6772c6ce95b521abbc4aa02982502a
+size 848873
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085047.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085047.png
new file mode 100644
index 0000000000000000000000000000000000000000..21d0f17f35863607e74f5f3b6a5fb06226018149
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085047.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a32410b8e77f70121b5248ef5f5e81101b842802496f7fecb3424e08d1a128f7
+size 853545
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085050.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085050.png
new file mode 100644
index 0000000000000000000000000000000000000000..40476b4966cab426a8e215eac3ab9fb8e8dd2fc6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085050.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:369686c4b7e76ef3c02999d3c707d7a278b69a55a3847898680dcb1aae8d24e8
+size 849381
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085052.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085052.png
new file mode 100644
index 0000000000000000000000000000000000000000..ff3bf76bbf2ef4875b9cdfa28268e74a74006016
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085052.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a36e7b18717ee217e090c7cb8fc68b9a7904fe81e4a533e19c5b9a9b36e4d932
+size 853531
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085054.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085054.png
new file mode 100644
index 0000000000000000000000000000000000000000..b43de681e4a7137210619d8515ca4e40d1b088b1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085054.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8667ba9d45734440d153ef71426d621815965763e30ab602a7bc06502fe415a
+size 856379
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085056.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085056.png
new file mode 100644
index 0000000000000000000000000000000000000000..d9b0176c9132e9c857bd5fe73c6439bd98d9a9aa
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085056.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c27944321d43f918c857ea725af37f18e0086b01a31c29f0c2793b50deda0aa8
+size 852570
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085059.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085059.png
new file mode 100644
index 0000000000000000000000000000000000000000..50fdfd2afd8c883a7ba85b803d111ab998940266
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085059.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16c7301871548ee6a10319fc37530d0263b29fc5e5d07d1b9064dc1db3e0fc8b
+size 840086
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085101.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085101.png
new file mode 100644
index 0000000000000000000000000000000000000000..1c16827626232b8cdf2479f2bf70cda38446fb70
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085101.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9458377d82b3e552c776cdd06dd78341bd552b190214d99939e9df60b28e61c
+size 837696
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085103.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085103.png
new file mode 100644
index 0000000000000000000000000000000000000000..3882b3c3cb40c5a89311a183991f28283f358bf5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085103.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02c8785a6c3778d5c7cec472f4fd8786648532d754c814e3543a713ae5c42f29
+size 830904
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085105.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085105.png
new file mode 100644
index 0000000000000000000000000000000000000000..8e58c6f8d6759d4b95e9aa282a542d3a71d51623
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085105.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac7adffd33d57444731eb8052a83f27bc0a6f7418cfcb8f31b1a2fb3c893e7ae
+size 909740
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085108.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085108.png
new file mode 100644
index 0000000000000000000000000000000000000000..a95d3b98aeee322cbec5d08ba8c3f42557d4d142
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085108.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e54d6f0e69c9375d21a4c6b9aa2c851ddf3816ef09494054c36af28eca96cca
+size 892012
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085110.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085110.png
new file mode 100644
index 0000000000000000000000000000000000000000..6063bc5110563c514180ff47ee72fad5f68ce950
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085110.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0974125fb4a753d7ff5ee3325e8b10fcee04a2fb74d26c6e3eaf236f850e4dd8
+size 871969
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085112.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085112.png
new file mode 100644
index 0000000000000000000000000000000000000000..e18d5f65c5d067a00035125555e1a568a6e0d8e7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085112.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:deb006e35ec3fa94f38f8f763b5c74d5f259c8371f7c51186b3f31da57448a3f
+size 869834
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085115.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085115.png
new file mode 100644
index 0000000000000000000000000000000000000000..e67ca487d649acee3684d934b45608abf4520293
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085115.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0dd5cc1cf9f0f17b9f82ec1dfea1763c99220112a081141afd704e6e0b135fd2
+size 854260
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085117.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085117.png
new file mode 100644
index 0000000000000000000000000000000000000000..bacc416ca0151fb52b1acf20379f08d65792121a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085117.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88c89edd59686e8e4f8570532a7121973d52d031562fc5e98916a7aea514ce51
+size 859585
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085119.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085119.png
new file mode 100644
index 0000000000000000000000000000000000000000..bcc8132bbedaa2fbd047a8044521e7a1f349149f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085119.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21b257549133e9ba47858936a81c6fce03138f808865f83d5f32b80f911bd8c6
+size 832072
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085121.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085121.png
new file mode 100644
index 0000000000000000000000000000000000000000..d29b7181caed52e1b05de2da9db8be5bf45a48d1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-50-00_196091/20250119_085121.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ec71f6732b3af765f145af05fae560e413e7e277b59d0785268f84f234697d7
+size 587594
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_17-50-17_1649760492/20250114_175024.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_17-50-17_1649760492/20250114_175024.png
new file mode 100644
index 0000000000000000000000000000000000000000..a8559caa583046555ce36cd72e14a7cfabd4210b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_17-50-17_1649760492/20250114_175024.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fe24507f604e7acb59124abe16d6a686d46cb481d5d29d2163c4dd2e333130c
+size 756056
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_17-50-17_1649760492/20250114_175029.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_17-50-17_1649760492/20250114_175029.png
new file mode 100644
index 0000000000000000000000000000000000000000..15976ecb296d6486e43aa769818d32925cb383bf
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_17-50-17_1649760492/20250114_175029.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7dd3331609c134f6a194dffef8aaa4be2b8c61896dc90a1bbfd3fc30f8cfa47
+size 773377
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_17-50-17_1649760492/20250114_175035.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_17-50-17_1649760492/20250114_175035.png
new file mode 100644
index 0000000000000000000000000000000000000000..07300525c5c9d8eaec466facd01a638394abc0a5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_17-50-17_1649760492/20250114_175035.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:396b2770a84077fb2681baebb0f090837c0167f9a0126c322dc2858e5afd5293
+size 769356
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_17-50-17_1649760492/20250114_175040.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_17-50-17_1649760492/20250114_175040.png
new file mode 100644
index 0000000000000000000000000000000000000000..28a855b5977c938bfe6774e4f2d7028bdd15ad55
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_17-50-17_1649760492/20250114_175040.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55c7bd400ce9dc0cb3362212be16c205337e679f0b00f5287cc1ac945d4b77d9
+size 776687
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_17-50-17_1649760492/20250114_175042.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_17-50-17_1649760492/20250114_175042.png
new file mode 100644
index 0000000000000000000000000000000000000000..9c3e47d872b219e1d7262145a869c734a642f6eb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_17-50-17_1649760492/20250114_175042.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83fa277d0c03ad80f62985ca6902cc092cec94257252d214febb17752b7a92de
+size 771525
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_17-50-17_1649760492/20250114_175044.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_17-50-17_1649760492/20250114_175044.png
new file mode 100644
index 0000000000000000000000000000000000000000..3c501c09d3bb6ba4b07555d669cd794238a46a6a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_17-50-17_1649760492/20250114_175044.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7e2f082ffb511a061b4fd62f22b2357d1fb8e793d366664c97dda493e13ad72
+size 766415
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_17-50-17_1649760492/20250114_175046.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_17-50-17_1649760492/20250114_175046.png
new file mode 100644
index 0000000000000000000000000000000000000000..4e910a865367d3b56a9ce140e79b35e1669c6449
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_17-50-17_1649760492/20250114_175046.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50750a71e99b42630c660bdeb2105862182e8dfe5dbc64d48b8d2fcc41543fd0
+size 763667
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_17-50-17_1649760492/20250114_175050.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_17-50-17_1649760492/20250114_175050.png
new file mode 100644
index 0000000000000000000000000000000000000000..d74959575537f5ffb9b620358f524adb08996026
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_17-50-17_1649760492/20250114_175050.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e5f62219d93ec657799033be28a7624ea085869680d134d3c88165d9264ad14
+size 768659
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_17-50-17_1649760492/20250114_175052.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_17-50-17_1649760492/20250114_175052.png
new file mode 100644
index 0000000000000000000000000000000000000000..d27687f749a6e7e50fb081c0580e04b0e972a4e7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_17-50-17_1649760492/20250114_175052.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63a5e22c97bf540f58eeff22a3fd1d3fafbd84d54cef09c8c8288fdc4f30ee09
+size 774402
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_17-50-17_1649760492/20250114_175055.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_17-50-17_1649760492/20250114_175055.png
new file mode 100644
index 0000000000000000000000000000000000000000..37bff5f285ca75e8cb53b42e0508667e13c0f212
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_17-50-17_1649760492/20250114_175055.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0f7f8cb764f7a4e42ae4258579433226e7b9020076e219622d7350552402a38
+size 770345
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221400.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221400.png
new file mode 100644
index 0000000000000000000000000000000000000000..e81506042031e71b6f8accc592a3bba01f1371ac
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221400.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b47336135c14748d06ab059527e5ddbe30991be4750e29e478b3ea184e026a6e
+size 825937
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221402.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221402.png
new file mode 100644
index 0000000000000000000000000000000000000000..21725ae14e56a97c95120263730cae3ca88418cb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221402.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:055f49a6ca932c05297d6b734331f9d976461ef1f568e224801715fbfea96e84
+size 810146
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221404.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221404.png
new file mode 100644
index 0000000000000000000000000000000000000000..072689ad6e94a61aaa913c326a3ca0b287a9d564
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221404.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f88d3eae1795bfee1007bc6d69fe6688a43c764611c95865404029f4b3c418aa
+size 808747
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221407.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221407.png
new file mode 100644
index 0000000000000000000000000000000000000000..ee566567b7e419918789b6fc252ed88412f26947
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221407.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd4877feeeaae3550f51b5806ca6afafe8dc097ff005f764957bd823000839fc
+size 791670
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221409.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221409.png
new file mode 100644
index 0000000000000000000000000000000000000000..f51ea45e92990a517f0311afbcdd28e96b7c9b1d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221409.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3689610b5ecb4db90d4018c0234e1f0cda8a036581ff6583999215199381596
+size 771166
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221411.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221411.png
new file mode 100644
index 0000000000000000000000000000000000000000..9a029d29de7c49161074f849fa3dae40d2d4e6fb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221411.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:768a3004a36d6dad9a7807ca5631c9176b67ef80c7fe2c97ce449f9eb7db52a5
+size 771506
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221413.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221413.png
new file mode 100644
index 0000000000000000000000000000000000000000..51c8609e93bb0471c2ad578b91a4c9c2c948f3ab
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221413.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ada9d3d7f1ffbf6cbf229d9dc92707e6f42a8946edbbd12882a5dca0d35ac7a
+size 770511
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221415.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221415.png
new file mode 100644
index 0000000000000000000000000000000000000000..f0502d52ef95356ffe8ec7a975a01ded6f5f0abc
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221415.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9f6039772e06d115b0f16bc43828a24d16be086d9c9e93fda29304f174bbd5f
+size 771900
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221417.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221417.png
new file mode 100644
index 0000000000000000000000000000000000000000..6384e3f417a2781e521b9cf3f0b3956565faff9a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221417.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:896a373329f9e06f3820f65119e3e74c8c24b2a17ad61943cc637731f1bf5935
+size 770368
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221419.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221419.png
new file mode 100644
index 0000000000000000000000000000000000000000..452c0a362a561231a33afe58d6b7eef0373670da
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221419.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16ad11d134b5cc5010bf97a2e5ec7597413d80aa84f2ed92022f30615ee9543f
+size 767937
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221422.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221422.png
new file mode 100644
index 0000000000000000000000000000000000000000..4ade777add9f2a51a9503503f519159556d87730
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221422.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f01062b19df24d26b30b669647608da65a2474085bf1fcf92bb3a1fbb3ef200c
+size 764566
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221424.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221424.png
new file mode 100644
index 0000000000000000000000000000000000000000..f202c871f9e8e9bd4dc1800e1d272816d3c8d55c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221424.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98076ad920a1dcfa0053d8819458b311a857bd5923746ca3963ad4e7aa42619f
+size 764542
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221426.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221426.png
new file mode 100644
index 0000000000000000000000000000000000000000..6a8c134fee109d6d7a20aba0ad2723d586293af3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221426.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efaaa5bf13ce7f81c769cbdc2b98c3a5bd091050633e8939cac8653e6409c7c7
+size 759334
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221428.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221428.png
new file mode 100644
index 0000000000000000000000000000000000000000..83adc217c7c11f23e403e32393dffe6fb8d49aa6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221428.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:732f389bba41832331d04658e1812cacf97086ba24fe645964f072964ed85ec9
+size 755414
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221430.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221430.png
new file mode 100644
index 0000000000000000000000000000000000000000..e169b343842f0e8726db03428cd7692e0ee76861
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221430.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:340c8537bb4978117f74ed9a6093011677b547336ac4810672e30e7a513730d1
+size 752347
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221432.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221432.png
new file mode 100644
index 0000000000000000000000000000000000000000..c8148d1abd45544b5abb63849a76ae5138bd826a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221432.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73dd8f604c2b19d8c16850742bdfb610c0958c91e8f9be1076c858f30fccc8bf
+size 748489
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221435.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221435.png
new file mode 100644
index 0000000000000000000000000000000000000000..ae14cddc9326728bf13e1438efc6c6e36dd5ace6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221435.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62a594391a506b2023c2808a1a1313a715f608606f12dcd7ab0cbdd0c319313d
+size 740728
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221437.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221437.png
new file mode 100644
index 0000000000000000000000000000000000000000..99b7a4c8e10c6515e387b741228f2309202c4d00
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221437.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00cbd6c6727bd702df4a7d9ead3c566d3369025dcd048a4c83b9ccfe0bb71c41
+size 735200
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221439.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221439.png
new file mode 100644
index 0000000000000000000000000000000000000000..6f15bf7582eb9f2d0448a3f2714ecfb2d178771d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221439.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e793b9b8526ba302f4b194c8432892dcdf285d7bbc3d4c14dc451ae7d46e4b1
+size 737345
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221441.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221441.png
new file mode 100644
index 0000000000000000000000000000000000000000..8b9cd0f3e7d7c1a4010b892bbe20294397819cd6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221441.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11a51d965e47b54d05f8fa5a9be8b35d1ae118eae1973e89fee75b7c2cb33d6b
+size 737208
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221443.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221443.png
new file mode 100644
index 0000000000000000000000000000000000000000..bf3a1b900785c7f47aad4816dd1272081b86fdd0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221443.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66a0f4fa060a067a4a5f949fa64b2ba48b50ac1ff013595b30ee69c815dc5a82
+size 736160
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221445.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221445.png
new file mode 100644
index 0000000000000000000000000000000000000000..8b8ea3decae349d2269b0cdb907b6bd29a7fc182
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221445.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1680d1d69d1d10d98d7db4bdbcc62f518c8b679987d6b681ded43963fc683d38
+size 733450
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221447.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221447.png
new file mode 100644
index 0000000000000000000000000000000000000000..c3de6a634fd2106660de556f8abf60756ac82f7b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221447.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11036413034ece6704fdcace0d6b82bcdc58b0c82a6d6dca43cd2039a4af98a9
+size 731070
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221450.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221450.png
new file mode 100644
index 0000000000000000000000000000000000000000..15ebfe7671c166ba63936f5edb27667c0222cf34
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221450.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca6e782d9677cb462331675ff9e10fbd9a8c78b9d133af7bbe192c9600d25fc7
+size 724912
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221452.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221452.png
new file mode 100644
index 0000000000000000000000000000000000000000..3ec40abbf776b083cf77d9547f122c6b9135621a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221452.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dceb2f49c531c6d0638772a633a0e018b50bdc6422961acf6082678687c7be65
+size 720308
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221454.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221454.png
new file mode 100644
index 0000000000000000000000000000000000000000..233920a57dc2108bfa687c81ba02c2571c239924
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221454.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fcaa4523b32687a7cfbaa6a757a987c51ffa568dd3db7a39e458d532c5897f08
+size 726245
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221456.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221456.png
new file mode 100644
index 0000000000000000000000000000000000000000..cf661ad46253bfb6ca2cb731aefc3c42a4ec9761
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221456.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:773a3742358c850ec77cf623dd8ccb4b0cba5fc66feb08ff550b53eec7e5f879
+size 733197
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221458.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221458.png
new file mode 100644
index 0000000000000000000000000000000000000000..20b8104525e2d84f80f5c535b8e252bcc56ec5d1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221458.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0079fdb91834e80bda7a35773950202b5664a7e747e324cd18a260c72d6b9a22
+size 733457
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221500.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221500.png
new file mode 100644
index 0000000000000000000000000000000000000000..bf86dfecad17528c36782dea09fade74a16f5ae5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221500.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d3586dce7f6b34cf4f7a401ef73310f09931eecbc53ddc0dbdcca4c430cfffd
+size 767468
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221502.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221502.png
new file mode 100644
index 0000000000000000000000000000000000000000..eb599507a281160d7bbacb66d39730f843f88971
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221502.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd2fe66489456c46d9155c7eeb67420e0e73b8c8e6a0b764727fda6b1b9d005e
+size 806927
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221505.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221505.png
new file mode 100644
index 0000000000000000000000000000000000000000..20a5cd0326a97669e2f8614cca7e952c1226c1cb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221505.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b273828194e4d18ff244cca6f318de751a7157ee8e3e6e4e616ef762d41fe224
+size 804249
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221507.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221507.png
new file mode 100644
index 0000000000000000000000000000000000000000..609c85bd788958971b86d29478a1327e84262b05
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221507.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6445f4da22dc2310e4115895d7e2e5c82c2d980a3aa378f39621563e2c7eb490
+size 795824
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221509.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221509.png
new file mode 100644
index 0000000000000000000000000000000000000000..a904cade41c182c1b5dc7493270a93d1b7284af9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221509.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a6445c6def1b5b05f2b1db9c115a3836ab4013154042d28d1c561ee9856bdf2
+size 790428
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221511.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221511.png
new file mode 100644
index 0000000000000000000000000000000000000000..0eea2c8d04ccba7cbc6923da62422a69de3c32ca
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221511.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d3aa4acbb4d7c0d6b4f521f393dcc5a6ef5b9c348be4f5cfd17236fe8fa55ff
+size 770746
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221513.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221513.png
new file mode 100644
index 0000000000000000000000000000000000000000..6dc4ac316f9f2520887fd2bae08dbd037bb106af
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221513.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:251c9318c629d34df6d6573cbe67b508c4919f30f8c70f82ba5ff474468bcfc0
+size 768560
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221515.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221515.png
new file mode 100644
index 0000000000000000000000000000000000000000..29470b3de4e44375a9f895cbe12dac8c16a5dc8d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221515.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d1e4d53fd3fb042f74499425444eecfb36861b79e893a0c7285e00c29280792
+size 764345
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221518.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221518.png
new file mode 100644
index 0000000000000000000000000000000000000000..c277dd2c01731d46b32f04e640a2f74247cb8250
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221518.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6372bba05d1d03eab931869fb75d5144aca9956ded560ccb6ac4374304774e77
+size 768731
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221520.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221520.png
new file mode 100644
index 0000000000000000000000000000000000000000..48e58ba42abfa7ae4005ac7da0bd574e6141ae4a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221520.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22c6a03b583311b10190bedc704e9485ff42e87be7a3e74f327e2c4553c64f39
+size 772675
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221522.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221522.png
new file mode 100644
index 0000000000000000000000000000000000000000..acb22584767b0c7344b5aa260c2bb982913b4787
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221522.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12cf8820656ca97bf0cd5a4e0d770844989895d7d7373b8d3611cd30fbabe474
+size 772165
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221524.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221524.png
new file mode 100644
index 0000000000000000000000000000000000000000..72ae04d173da564be0f7eb8fe5bd3355b4f554da
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221524.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43efee4c8e10478827563f2548251b24cc80ed60a8659d63764ab576a7453c2d
+size 778206
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221526.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221526.png
new file mode 100644
index 0000000000000000000000000000000000000000..aac4715e8d76c67dfa1e12f55eb85bb0709b14ae
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221526.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3cde97e95b376a493c1d23b0b2e64dd2711090446d55efca9459f9d4aa9e38f0
+size 805646
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221528.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221528.png
new file mode 100644
index 0000000000000000000000000000000000000000..51252745bd237507c790ccea520c12681014a479
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221528.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33eb6836a569a5659270ab6dad04d25a66d94a7f399423b2c2d3231ef29e0a73
+size 792942
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221531.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221531.png
new file mode 100644
index 0000000000000000000000000000000000000000..15debe87c5677aa4b604796ba2437c6abc4c5e3d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-14_22-13-56_2130794395/20250114_221531.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:406eb4eabab50a326396ba28d25e28853ac2b17eb8874f3e0feb16a699fef606
+size 597101
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_11-23-14_1022963858/20250115_112320.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_11-23-14_1022963858/20250115_112320.png
new file mode 100644
index 0000000000000000000000000000000000000000..ab044d85549053afcbd779b0fb061b517db114fe
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_11-23-14_1022963858/20250115_112320.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8373be278d973b5e87a4a7758dc323074736f2076f7c9684c1ae255a4fdbaea7
+size 757458
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_11-23-14_1022963858/20250115_112322.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_11-23-14_1022963858/20250115_112322.png
new file mode 100644
index 0000000000000000000000000000000000000000..53a27ca1e7cf9124f288780e7165100959dbf065
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_11-23-14_1022963858/20250115_112322.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:088a8e6c51d72b3c40e6c65840ea971b7ccfc4741e40392a6ad06073075e1517
+size 716415
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_11-23-14_1022963858/20250115_112325.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_11-23-14_1022963858/20250115_112325.png
new file mode 100644
index 0000000000000000000000000000000000000000..fe8f8ebc8f2f596fc12b7f9220e509e57fe2e10f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_11-23-14_1022963858/20250115_112325.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d03ea21e948f661028a941bc24a3e823f4ad661bec276b9ea5df98694a7d0601
+size 708888
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_11-23-14_1022963858/20250115_112327.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_11-23-14_1022963858/20250115_112327.png
new file mode 100644
index 0000000000000000000000000000000000000000..3b37b03ae3246834e9d743beb96bf2eb20a36045
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_11-23-14_1022963858/20250115_112327.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1f6eefb65839279db9c8c3186cb64f2f0ad888c66d26180cb931c962f0d0c2c
+size 681655
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_11-23-14_1022963858/20250115_112330.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_11-23-14_1022963858/20250115_112330.png
new file mode 100644
index 0000000000000000000000000000000000000000..194994a3e76c6a6d7bf64a81f7ed106685cb337f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_11-23-14_1022963858/20250115_112330.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:792891d82f82ab0db6c4de2bd054506ddc6be846c62d8c410090ef93e3b3a3e8
+size 693468
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_11-23-14_1022963858/20250115_112332.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_11-23-14_1022963858/20250115_112332.png
new file mode 100644
index 0000000000000000000000000000000000000000..09ea7b9cc72dfa478f92c1f1c47166a077fef439
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_11-23-14_1022963858/20250115_112332.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04798d135465b3dc609664be4b1f2f12d8173a6e7a665c03f02b21894e09e013
+size 700969
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_11-23-14_1022963858/20250115_112334.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_11-23-14_1022963858/20250115_112334.png
new file mode 100644
index 0000000000000000000000000000000000000000..cf01084ac11bea32ca06bedd515f0fd65d92736a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_11-23-14_1022963858/20250115_112334.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bef7affe66b88f3805e883e63e97aba2e664ec7f9e197cc3b0dedbedc22a221b
+size 695811
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_11-23-14_1022963858/20250115_112337.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_11-23-14_1022963858/20250115_112337.png
new file mode 100644
index 0000000000000000000000000000000000000000..03d33e1db75fd9c33f7564197fbf5caa64af3c61
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_11-23-14_1022963858/20250115_112337.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30d7dfc41de3c65c76d30b8f90800612ada44596268ffa442d7bb03310f7ad45
+size 700900
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_11-23-14_1022963858/20250115_112339.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_11-23-14_1022963858/20250115_112339.png
new file mode 100644
index 0000000000000000000000000000000000000000..1c510cd22e7b31d5d41f0e5f958320bbb8d52aaa
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_11-23-14_1022963858/20250115_112339.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c03ee90325a25fba61e587ce97c8c2e5f80f7d36d0df815ec4b2411261e4983b
+size 691325
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_11-23-14_1022963858/20250115_112341.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_11-23-14_1022963858/20250115_112341.png
new file mode 100644
index 0000000000000000000000000000000000000000..6feb769bc955959c4b41b0fe85a0b532758ecb38
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_11-23-14_1022963858/20250115_112341.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc583fc0971b1ecd2432ccb464b945c3c14f463f97ffe044cf79d2e00aba6872
+size 678722
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_11-23-14_1022963858/20250115_112343.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_11-23-14_1022963858/20250115_112343.png
new file mode 100644
index 0000000000000000000000000000000000000000..939e5f32a14b0bfef8a7322d76ff9bdcebee544f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_11-23-14_1022963858/20250115_112343.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5af889088b8d3b5aeff4374e2e573c659a7e78417c956320ac36918fa8bc4b16
+size 663589
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_11-23-14_1022963858/20250115_112346.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_11-23-14_1022963858/20250115_112346.png
new file mode 100644
index 0000000000000000000000000000000000000000..d5f9568a0e974143be2b6b7f31f395739ce849a2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_11-23-14_1022963858/20250115_112346.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b267640db3d3ca4da6a862135be0244d5a21ef2e6a85e3eb9d8b4babda54b750
+size 637910
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_11-23-14_1022963858/20250115_112348.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_11-23-14_1022963858/20250115_112348.png
new file mode 100644
index 0000000000000000000000000000000000000000..103a4bd7f5885794af1dcad43cc5e6602373a799
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_11-23-14_1022963858/20250115_112348.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf3e764b74846b881278845aa57cb981cb7376d0a4cd15ad4695f1cb2d64e572
+size 708400
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191744.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191744.png
new file mode 100644
index 0000000000000000000000000000000000000000..59408d117cf491cef51f3f10584f2e035dea3c52
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191744.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e8f5307e936471901fa44f6db2138a5412a30cc8f1b53e50be187c213e18dee
+size 923346
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191747.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191747.png
new file mode 100644
index 0000000000000000000000000000000000000000..f8d29ddf8b44b9f20c9399b6e06b2299b5d9e2e3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191747.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d916c2503b737572faaceb9c1efaf94b1842240547e20869a0e31b5c48cc58f
+size 844999
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191749.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191749.png
new file mode 100644
index 0000000000000000000000000000000000000000..559857c4390754dd4e87ceaf21998d4f455f52a6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191749.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f525cde570046b7bc19ad3982565e519e08d7965561d7d332d4817f16931d6f7
+size 841971
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191751.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191751.png
new file mode 100644
index 0000000000000000000000000000000000000000..b9793d424410446327413ede2eabf01dc7ddc3b3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191751.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:553967e7bea513fbdb3e44428241d8e9e55de379e02ab2630c1195eeceaf3d64
+size 837950
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191754.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191754.png
new file mode 100644
index 0000000000000000000000000000000000000000..25d69960639c13b8206c8e806605e76e2971d853
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191754.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:300bfdf4447ee8f15149f58300592ffa1f03c47d5b0d05c9adbb0f468ddfc35b
+size 836088
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191756.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191756.png
new file mode 100644
index 0000000000000000000000000000000000000000..994739756289de8790a28e412ca0a4d504e43b04
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191756.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:037753825fed4ed8f24bbc4ae2023821c326f87fe4567c0ebe16d126844ec41b
+size 829792
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191758.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191758.png
new file mode 100644
index 0000000000000000000000000000000000000000..d4f2c94fffaef92cec3c74dce299f0ffb4a3b06a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191758.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1c922498e638e66b9fd091b3fa87ab14ff10ceedcea18a141a46a643ee2eb72
+size 822261
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191801.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191801.png
new file mode 100644
index 0000000000000000000000000000000000000000..fbaf6584993988e6a301d5d60b7c2c09ae776acc
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191801.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb7694d49b077766b6e525d98f855cc2b9c38cc379f87451694953c9da690482
+size 816314
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191804.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191804.png
new file mode 100644
index 0000000000000000000000000000000000000000..f825a63522f9596972348644c15c126db79f924c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191804.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:621a05f54ba2551da8d51f4820587b0ee8ef259c52bc7d24d638fab83a9cded3
+size 810512
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191806.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191806.png
new file mode 100644
index 0000000000000000000000000000000000000000..b0aea3145949c5ecdd4a643f0ee671cb0032425f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191806.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb3a4fed8325b2300aee5737a7e334ac5603604887197d1c459282fe4bd41eaf
+size 807981
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191808.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191808.png
new file mode 100644
index 0000000000000000000000000000000000000000..d692fb484f96c126acc93e949e65a0dc0dae9281
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191808.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecf135ccedb27f75f1cac151d370385f4045e295efbdd30a1426f668352ff314
+size 803616
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191810.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191810.png
new file mode 100644
index 0000000000000000000000000000000000000000..dc19db7cf3ab0511e7079594658295752d904429
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191810.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:074b3c25a0476cf21aadeb90df1307d8ed21113dd9b983e8db9cab361e53e422
+size 797786
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191813.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191813.png
new file mode 100644
index 0000000000000000000000000000000000000000..e00f53687acb41c56ffcf4d0e724e21d3c7bcfc5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191813.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b515b9ec694e7f199322e0d2ef70b06cf5272a7424491a844a5b48d164fab925
+size 787407
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191815.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191815.png
new file mode 100644
index 0000000000000000000000000000000000000000..af04aa44467c406e14ce5469e25c486799afcf26
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191815.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3c12db8651a685d1cfb831c19a7faf344136a7e6f059277bf1784ed9f83d341
+size 781676
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191818.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191818.png
new file mode 100644
index 0000000000000000000000000000000000000000..2ceaa66d6092a1629716ae3866a9d0c85dd0e0bc
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191818.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47b8e7e04e8e2cf1ebeb4d263289731146556264028b197e70f4926ac8888feb
+size 774746
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191820.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191820.png
new file mode 100644
index 0000000000000000000000000000000000000000..9356be3dcd01d8069a1fe4193b8188994593d475
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191820.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec33a89d48d8b59d3523ec497a9a6ffe8b3fb4b92e3679c3b225597e23f4b43f
+size 758914
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191823.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191823.png
new file mode 100644
index 0000000000000000000000000000000000000000..46b4b7f81a8029c0e06eac22602d122e195d738b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191823.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f48ae400b3960a5b67d7f2042c9aeaa274183745fb29c023e8b39c99eaef58e
+size 765807
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191825.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191825.png
new file mode 100644
index 0000000000000000000000000000000000000000..e182f8e50fe12442813e5cb89511d66d001695f3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191825.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a47a250bba9b912d48ae3c183283cc779e9ae6aeae463ec93cb5dd227c6d5726
+size 748355
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191827.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191827.png
new file mode 100644
index 0000000000000000000000000000000000000000..58488b4be6459daca910cf9cd01eb9685aca6927
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191827.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:403622ff4db5d1a02ec2cb5c52b3ce2da961bf4bf1552cdb64b551d8ed7ab740
+size 747441
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191829.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191829.png
new file mode 100644
index 0000000000000000000000000000000000000000..065e04379c840c5a7b01aa17a79fefd53026dcdd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191829.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ba44845148a50321b0f6c28b1e9314e48269054d5c9de008f25be174b39c203
+size 750976
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191832.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191832.png
new file mode 100644
index 0000000000000000000000000000000000000000..89ba4a167992c846a4b85fea0ad777e279b430f5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191832.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29a4d3d00fbd8521ecb3855fa222b882b68a7ad6304f9d9d74f1f08b966f5b6a
+size 754144
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191834.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191834.png
new file mode 100644
index 0000000000000000000000000000000000000000..9d3ac8b61036145689263f2363e1a161a5f54dca
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_19-17-37_202550399/20250115_191834.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fc483da5b5b4f1afa48ef0cbe3a50be84d35d556a1ab51b17efca51354889ed
+size 801137
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-46-43_221713886/20250115_204648.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-46-43_221713886/20250115_204648.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c02171d2aba05db8f0c86f00b9350f84e05b619
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-46-43_221713886/20250115_204648.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24f83a817aa39fd49b8bd97498a1d184a086a1df52da058051ed1a84828ab868
+size 634564
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-46-43_221713886/20250115_204707.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-46-43_221713886/20250115_204707.png
new file mode 100644
index 0000000000000000000000000000000000000000..e9305e97ff312a5d182659819426b63fc734b3ee
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-46-43_221713886/20250115_204707.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:979bc9f4f4dbf3ca072051a886c1e35c2569156df5c43b47da4d37190eb760d2
+size 722620
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-46-43_221713886/20250115_204712.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-46-43_221713886/20250115_204712.png
new file mode 100644
index 0000000000000000000000000000000000000000..7561d649968c7908f9eeda71661fb5de23e248b9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-46-43_221713886/20250115_204712.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5fecff100ec550a75f5d6e120d35cf804407381970e4f99c404f0deb62dfdb0
+size 724980
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-46-43_221713886/20250115_204756.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-46-43_221713886/20250115_204756.png
new file mode 100644
index 0000000000000000000000000000000000000000..81be2914916ed5935b716b62f040113c4f3608d4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-46-43_221713886/20250115_204756.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95196364219b55e74c14b1ed8ebab622d06abb9c3ac357c32b2718594228b616
+size 745476
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205650.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205650.png
new file mode 100644
index 0000000000000000000000000000000000000000..9f4b75930cda2844610e26af907d72696818b4eb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205650.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0c0866914c65c6908318a01b7852ac75dd278b8b92bdb100cbeafe9fb334952
+size 840945
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205653.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205653.png
new file mode 100644
index 0000000000000000000000000000000000000000..c7d539b10d4dfe830205f1a0ec5aad568f676027
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205653.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:438d074b5b34d276f60a6d069db574008f76076fbc8234832934a8ac96561f6d
+size 846530
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205656.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205656.png
new file mode 100644
index 0000000000000000000000000000000000000000..213e3c2a8c1534864a304df754cdceb3dbefeb22
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205656.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bc16cf6c243ef0731558305a36c07bfa911c4c57b697d84ac0daa8e2dff19e0
+size 836037
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205658.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205658.png
new file mode 100644
index 0000000000000000000000000000000000000000..923e1a9df997806a0d4baab8dc004250048409c1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205658.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:039250addce96c8d6af9e61fedd01db0e96f1dab3cadafe6fb48d7d904d31410
+size 840907
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205701.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205701.png
new file mode 100644
index 0000000000000000000000000000000000000000..fde664601cdd89656e16856d3fe4eae50a9c7d8b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205701.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69741347a9361e0d29a20cd1160625ced42be438960e2d024dfe43ec17697715
+size 837904
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205703.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205703.png
new file mode 100644
index 0000000000000000000000000000000000000000..8cd79126a9c848738d3521818e1be311cc27e962
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205703.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56efacd6349dba30c989c12cdf08363404a3b64237d76e7aa7ff99b3d1198196
+size 830704
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205705.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205705.png
new file mode 100644
index 0000000000000000000000000000000000000000..b69e7361c192c7a6c9eed157f03b79533577f15a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205705.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3851b63298c4f95acb0a900fe92f3c581da21029808d7ddc290a72a3f0118bc
+size 826531
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205708.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205708.png
new file mode 100644
index 0000000000000000000000000000000000000000..78cf16ed26eb59a8012bbf3ef8732b501f9ce351
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205708.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb2c76c33b8a901b10a6b34bae7b0e1eb9569af1b0cd2828d368482d95c2070d
+size 825675
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205710.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205710.png
new file mode 100644
index 0000000000000000000000000000000000000000..9410588f058bb12acccfffefe0af2248f086ac56
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205710.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37afdc722bcd33725ba67b8438a0fd09eee7fd44f15e5d4a2bd4eacdd55024a4
+size 829501
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205713.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205713.png
new file mode 100644
index 0000000000000000000000000000000000000000..11ea465abcf43d0bce1fbeb73b55706ececc0910
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205713.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:192d33c0c15f7276035c1441df6edca83eed5d6010d50af1198c67a9ec9804bb
+size 815177
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205715.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205715.png
new file mode 100644
index 0000000000000000000000000000000000000000..fde525bdec817a4d3fc74209644e2233dbaaba7e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205715.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c17e6bd2520a5835280c3cb99f46e8fb7bc5d29c7d2ed7254351b9c6403f2e2
+size 797432
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205718.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205718.png
new file mode 100644
index 0000000000000000000000000000000000000000..07725ab2cb74a30dbb8f6ea96c9d7f192bc7d89c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205718.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:367d8ad796c440988a3355e5e998f90ebdab7af976854635bd44f6391b7c8b5d
+size 793643
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205720.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205720.png
new file mode 100644
index 0000000000000000000000000000000000000000..4dbb14720a629e335495d0d2b4ea78826cceb6d5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205720.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29bca0ff3320a57347626d0cd181f7035a4a48d36e8a0b15b83e24369a4aa6fc
+size 791384
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205722.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205722.png
new file mode 100644
index 0000000000000000000000000000000000000000..e61bcab2d7374c432133df50b4fcc84d26a85d1d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205722.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e44654b0781656be1adc046dbf8c79d437f58357866d4b9aadbc97fab05ee783
+size 793720
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205725.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205725.png
new file mode 100644
index 0000000000000000000000000000000000000000..758de1c4a2d25e22f577ba32af7dff94dedaa3a8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205725.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:931d18ac39c74f12252dc8b16ebec7d6e9c35b4e7056ec021800fd623c98e87c
+size 792028
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205727.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205727.png
new file mode 100644
index 0000000000000000000000000000000000000000..512ef2ba47799e147d48a1ecb472280ac5a1331f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205727.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:743217377c2a99f3589861133bc49642618069411e379c639db8ac0c496376d6
+size 790612
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205729.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205729.png
new file mode 100644
index 0000000000000000000000000000000000000000..0dc4b388cd2d72c985394052b544ea2c54fc542a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205729.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9008fba78c0f72ab2dffd388a62af67c03bdf308767a5e3de23c8b9324dc71e6
+size 788673
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205732.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205732.png
new file mode 100644
index 0000000000000000000000000000000000000000..affe9fa990a826cd1100abc998f15674e0432fc7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205732.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b2315c36a3725e61f067185390542b85bd5f7bce4510b797ad878726206403e
+size 787712
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205734.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205734.png
new file mode 100644
index 0000000000000000000000000000000000000000..5f5ccf8c2eb5cfe7901618e7558324b75ced82af
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205734.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd622f305687c9533fdca81ff74f4dc220bfe16b05433bf2688035990850ddc5
+size 780798
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205737.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205737.png
new file mode 100644
index 0000000000000000000000000000000000000000..a5f52cda9935f0830cd866ceae06bc54de371eb6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205737.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4c13ad8ac6b2da699d8301eda1fc28cc3f4499c58c6ed9fd90f186777258493
+size 781545
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205739.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205739.png
new file mode 100644
index 0000000000000000000000000000000000000000..fb56c025be1caeaf968cf5932c827910cc9fe363
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205739.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1c8d24ed8496a85088cd5a32e6f127c66fd65c0c055122cc3d9cd2101b796c1
+size 785515
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205741.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205741.png
new file mode 100644
index 0000000000000000000000000000000000000000..51ccbd3487db72b6139fb3b48f331bfeea1e1ea2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205741.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62bb35f01d68fff6dcc316381bf2c2acac68fe214bc77533bedf169b2cf2ade4
+size 795426
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205744.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205744.png
new file mode 100644
index 0000000000000000000000000000000000000000..69f39fa3608247ca5fd7216ef038f8a62463f3de
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205744.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96f2770e7fbff534dc3b8c26b27e2675925abfaa58c1ca5e0d6bd1b64d7680aa
+size 798699
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205746.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205746.png
new file mode 100644
index 0000000000000000000000000000000000000000..a96892159c3b592596ffa1b5ed4e8e28365f4af2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205746.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca9ef39bccad5ad87e81ba48fd5ad54de9f30a196f4648cc14de8944d369122b
+size 805183
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205748.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205748.png
new file mode 100644
index 0000000000000000000000000000000000000000..aaf0fc1c70e5494d541232cd4f2c54efcfe97eb7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205748.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:338713c0f8122d844b0884c2817ff0cb22b13c2429ad2e3f1f66478a817baae4
+size 804834
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205751.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205751.png
new file mode 100644
index 0000000000000000000000000000000000000000..3994e4bcb11009e39a2956d184365f289b710861
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205751.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a812334a2f4757e8ffd64fd5bbe907678b94e41043e838611c84ee5b4bf63013
+size 809778
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205753.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205753.png
new file mode 100644
index 0000000000000000000000000000000000000000..00388d156acec1dbda46098cc1e459ff0809cb1a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205753.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e6c664160577b721a00d3968053f716fd9c8275c2e30e7152c75d7b3e12678a
+size 809844
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205756.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205756.png
new file mode 100644
index 0000000000000000000000000000000000000000..dab8b933b62883d27095b6904bfbf8ed62353023
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205756.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65f083327da05c98e5951a5ad5a6556c379232049fc95f91af099e1818f26c3b
+size 757138
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205758.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205758.png
new file mode 100644
index 0000000000000000000000000000000000000000..f6b8bf6afc4ae86adc487ba3e507eea9c13f1ca7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205758.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:432bdd63fd34e6fb32a697ff03289df976eb94cd23d129e5279bc6ae2e367d41
+size 751249
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205800.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205800.png
new file mode 100644
index 0000000000000000000000000000000000000000..2137210697bd7604b80c80b69680cb619e7a3f7d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205800.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af30862121f4d2bb077a0c85bded638487c731acb3635a96c0f309c95abc8b07
+size 745178
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205802.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205802.png
new file mode 100644
index 0000000000000000000000000000000000000000..3fa3b281595092aa4cfb334aa51aea1f30de6310
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205802.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9dd1ba1ebc642e631d5b2ac347027df2ef61cd23270e71603fe8d013dae2d196
+size 744829
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205805.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205805.png
new file mode 100644
index 0000000000000000000000000000000000000000..b744ecc4fdd1de6fd12db57a9ec69287ee526087
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205805.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4df90be68aedc0ac86d3b28c985c1c1e2e3966ef4d10a988d5338cb94c0c6af9
+size 749128
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205807.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205807.png
new file mode 100644
index 0000000000000000000000000000000000000000..bb6a9967a3f7b5b7447a7df7b47b518d57d8d626
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205807.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1d936849f5899b47fda6c8b2f565928b993ccaa2f762c50e2bc46ea92246fb6
+size 751501
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205810.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205810.png
new file mode 100644
index 0000000000000000000000000000000000000000..d87c879e3b22ff5972e5bb9476d312785b7d221b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205810.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a532306346214a5e2e555ad64432f56b69e261c7eded044625a7a6eafb59c85
+size 753624
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205812.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205812.png
new file mode 100644
index 0000000000000000000000000000000000000000..823a4f9e32f924f9e74933354717c05353035605
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205812.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:218df46daff0465bf139440b6d8682ba2bfda05ab62f18b571a5b5bd11cc60c3
+size 763563
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205814.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205814.png
new file mode 100644
index 0000000000000000000000000000000000000000..f0701432798e57b88e78fb7d3ea029713e179665
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205814.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46ba3ba3c84eea36157a713b67ea9fd93675dd0cc1f9d55cac1c2d604c8c02cf
+size 759754
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205816.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205816.png
new file mode 100644
index 0000000000000000000000000000000000000000..69005a582fba088a43df6adc5fc4fb8c0b663866
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205816.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d3b9ff407e42f1a92fd10de18b411939b7982e10d1eafacedb3bde3a1f1612d
+size 765679
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205819.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205819.png
new file mode 100644
index 0000000000000000000000000000000000000000..49537d246863981b31bd79168bf729768febf780
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205819.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3a1a49dd7fd56b23c1bc4053ea677c9acd03eaffdc1d1bb4922802fa75dc1a0
+size 767777
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205821.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205821.png
new file mode 100644
index 0000000000000000000000000000000000000000..4448ec1b902fd284aca6ab9dccefc98790f7bf06
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205821.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9ee6bbcad27e8d46661900ecbbdb62449a2063bd272fe465ee14b754d3b78db
+size 758260
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205823.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205823.png
new file mode 100644
index 0000000000000000000000000000000000000000..13deaca1f8af153cd8b4c65eb3612d9cf0bdf247
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205823.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ede781c1c18b6ba04d281080a4ce8594a6b7102cbae8a446fb276159d37ece52
+size 745095
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205826.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205826.png
new file mode 100644
index 0000000000000000000000000000000000000000..59dc922a5e012ab1967a99a622fd3def5fb71f80
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205826.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca42493895e7a2a8a4ddf51e0f45f4690388d82bc7f4a2aade00d5010711dcf9
+size 751345
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205828.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205828.png
new file mode 100644
index 0000000000000000000000000000000000000000..b0d11aac6e639cc80987c841fd36b1150face551
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205828.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36dd25cee4e24fd41b54a02f83d8cd72f9626add5aed28db8d4404e954cb5040
+size 747254
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205830.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205830.png
new file mode 100644
index 0000000000000000000000000000000000000000..d56d8ff8c2e516dd98068b50562f43bf9c653e17
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205830.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0fd4a826fb0eab6e2f0126cd0cfb5b7f68ac8dd6dc8631cdf15c98951991cd1c
+size 733426
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205833.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205833.png
new file mode 100644
index 0000000000000000000000000000000000000000..126ce486d296e97661878c37ab0e3ec027157312
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_20-56-47_1762924393/20250115_205833.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38609f32ee249f35ac6f8174851a911e424bd5632f15b9715915a9669ae04672
+size 796007
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044648.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044648.png
new file mode 100644
index 0000000000000000000000000000000000000000..6899402dbb1ffa5b88fbbf75b21af317c329f537
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044648.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6210d75ba26a86040a04e8eaa309b2f280d11599fd7949acab45d99702d911f8
+size 857524
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044650.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044650.png
new file mode 100644
index 0000000000000000000000000000000000000000..06ee6c5dba4279eaf761ae44d560cfd233209fbe
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044650.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6520bf7724eaa1924d9f67c83f98c2755c4380963710326325cff1569b9a9b7
+size 737461
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044652.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044652.png
new file mode 100644
index 0000000000000000000000000000000000000000..c6a29625c3453d5bad560ad6084b0358e2a78018
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044652.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a2ecdd561704aa107aae247cb16be45e98283d4188e15324de3da777d548308
+size 714444
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044655.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044655.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c2df7674bdd1daf7b525970647b16dde0f60d8a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044655.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0aa9b5ed2b764e17c2a2e9ee3dd517a564414b340982dfb34b9d31f36de01d74
+size 712856
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044657.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044657.png
new file mode 100644
index 0000000000000000000000000000000000000000..c92bc59242170394153514cb97e7b71a40b3da34
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044657.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cb5a59a812d0ef71a49d96ad74eb51917c83deddbb8c66655d7107d66cc85db
+size 706041
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044659.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044659.png
new file mode 100644
index 0000000000000000000000000000000000000000..24df479def942554f0447bd448af5a22bf567321
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044659.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee0bfb5f4a3dee2ac3ee9f547a4118c3b9bfff228f81964c712463e82f737bb0
+size 707654
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044701.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044701.png
new file mode 100644
index 0000000000000000000000000000000000000000..daf8eb51ada6ae713c68d7337bd7a32bfaa7bf4f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044701.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83e4cb14ad6407c13094e078205db48116761a88322c84a18cdda07f3e98c9fe
+size 708022
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044703.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044703.png
new file mode 100644
index 0000000000000000000000000000000000000000..82c31cdd79be2832a6b2645d745cdc6b2a8a23be
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044703.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebafea25bd3f715f5733fa26d88407199ea3b75f8772042340d315db2dbf3c9b
+size 707312
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044705.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044705.png
new file mode 100644
index 0000000000000000000000000000000000000000..40112a58b290eb884cc2e67cdd9f45f9c44d73c5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044705.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a0b968a2f91ab0033f7589ea612ad36a4826a2baa35a3e5b7ecf120e1cacc07
+size 711808
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044708.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044708.png
new file mode 100644
index 0000000000000000000000000000000000000000..685d93fabf251cb0ef037b57a00fbf16d5f2ff39
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044708.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40ad7714a41c5043e7c037fd0acda1687fc60c306e3d3931ffee0bf0db35959a
+size 709257
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044710.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044710.png
new file mode 100644
index 0000000000000000000000000000000000000000..bd81eafbe1bbfd96d093b04e2d4fa34c4ff6d845
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044710.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfabe782e4873efd5dc2c9ec21542ac2182e4a9430b21a2e61b28994446241f2
+size 724076
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044712.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044712.png
new file mode 100644
index 0000000000000000000000000000000000000000..82ab016616ecd17e46556c99c54384726d36a209
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044712.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4341e120f09f3703e5813cabf78182d73faa86894072837bf17a09560d80f5bc
+size 764399
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044714.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044714.png
new file mode 100644
index 0000000000000000000000000000000000000000..a02f2bf84f5fdca01e9d8bc329338663d8b03fa4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044714.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3cfa7a49dd4853bb6e630fb8a3ea897dcc44c1dd2a3fbeeea6de15dc6a42400
+size 759251
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044716.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044716.png
new file mode 100644
index 0000000000000000000000000000000000000000..d3b690ab6363aa67c26a24f55c452cad0a21dd3d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044716.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e15df4ce0eb237100befd6b00f8ac6cbfcf66fff7b9de1039bde889ec360b823
+size 757163
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044719.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044719.png
new file mode 100644
index 0000000000000000000000000000000000000000..b1fcaad1e204d4d6247b46ad3f01c86ec84817fb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044719.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0389cab855014b5b4e8e39b924a31c82e5bdad79563c2bf8d708b2b1bb7376b0
+size 776028
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044721.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044721.png
new file mode 100644
index 0000000000000000000000000000000000000000..5604a1a1091b8781e66a97b8dbf2465d918b0c52
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044721.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef7ad5258aba7f97751b4f9dae71d83f4e974e1c3ba571a1ccf2ef32c1b84e87
+size 772557
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044723.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044723.png
new file mode 100644
index 0000000000000000000000000000000000000000..943570904927c972501163cfa36c3ee5a8198481
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044723.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9883086c6d620bdfa2522841da90851ccc84ebdb736f9978855cdad69090ed05
+size 780598
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044725.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044725.png
new file mode 100644
index 0000000000000000000000000000000000000000..f0868cbf9a78b3a368802abc467f15be9244fbdb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044725.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f246cdeeb1b861d2f2b625c93ab8118a24d19da9625733bb85099022f97974c3
+size 775622
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044727.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044727.png
new file mode 100644
index 0000000000000000000000000000000000000000..ef0f9b29d1c0a8fc19de8ce57dacd17c531ddc94
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044727.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c678298a20ab295bcaffb9934e00d351c908df75b4a8097c3fa1bf7acc22bc3
+size 771782
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044730.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044730.png
new file mode 100644
index 0000000000000000000000000000000000000000..ac1237aa1abc797ff3fbe4dd406690849e5f9074
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044730.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10db7b2dcab7ddb9a8bde3d75bad30977c1783c44e912bf471c9867f5b08916c
+size 768763
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044732.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044732.png
new file mode 100644
index 0000000000000000000000000000000000000000..e359811d669aac59234cca9aef54270f7123dae5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_4-46-43_1328104339/20250115_044732.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a7b6b104f8e324c1eaedc8cc6908426e86d25888aaaaa8c8fcce464fb7dcc04
+size 797497
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_17-38-13_719885386/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_17-38-13_719885386/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..acfd5fdbb87cd090e065d7089242a03087a34d9e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_17-38-13_719885386/pose.jsonl
@@ -0,0 +1,314 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1539.2352393830806,
+            169.1486109298734,
+            1.4102633522924855
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1539.2352393830806,
+            169.1486109298734,
+            4.4102633522924855
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1539.2352393830806,
+            169.1486109298734,
+            7.4102633522924855
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1539.2352393830806,
+            169.1486109298734,
+            10.410263352292485
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1539.2352393830806,
+            169.1486109298734,
+            13.410263352292485
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1539.2352393830806,
+            169.1486109298734,
+            16.410263352292485
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1539.2352393830806,
+            169.1486109298734,
+            19.410263352292485
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1539.2352393830806,
+            169.1486109298734,
+            22.410263352292485
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1537.7352393830806,
+            171.74668714122672,
+            22.410263352292485
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1536.2352393830806,
+            174.34476335258003,
+            22.410263352292485
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1534.7352393830806,
+            176.94283956393335,
+            22.410263352292485
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1533.2352393830806,
+            179.54091577528666,
+            22.410263352292485
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1531.7352393830806,
+            182.13899198663998,
+            22.410263352292485
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1531.7352393830806,
+            182.13899198663998,
+            22.410263352292485
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1529.1371631717273,
+            183.63899198663998,
+            22.410263352292485
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1526.5390869603739,
+            185.13899198663998,
+            22.410263352292485
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1526.5390869603739,
+            185.13899198663998,
+            19.410263352292485
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1526.5390869603739,
+            185.13899198663998,
+            16.410263352292485
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1526.5390869603739,
+            185.13899198663998,
+            13.410263352292485
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1526.5390869603739,
+            185.13899198663998,
+            10.410263352292485
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1526.5390869603739,
+            185.13899198663998,
+            7.4102633522924855
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1526.5390869603739,
+            185.13899198663998,
+            4.4102633522924855
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1526.5390869603739,
+            185.13899198663998,
+            1.4102633522924855
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "dark",
+        "feature": "glass facade",
+        "position": [
+            -1492.11359,
+            219.63275000000002,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_17-39-18_1649760492/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_17-39-18_1649760492/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9b9543ec2b2cef31504cae43ed894ecaccdbcdde
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_17-39-18_1649760492/pose.jsonl
@@ -0,0 +1,366 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1921.361505567001,
+            814.4317186967196,
+            1.2923039776799161
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1921.361505567001,
+            814.4317186967196,
+            4.292303977679916
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1921.361505567001,
+            814.4317186967196,
+            7.292303977679916
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1921.361505567001,
+            814.4317186967196,
+            10.292303977679916
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1918.7634293556475,
+            812.9317186967196,
+            10.292303977679916
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1916.1653531442942,
+            811.4317186967196,
+            10.292303977679916
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1913.5672769329408,
+            809.9317186967196,
+            10.292303977679916
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1910.9692007215874,
+            808.4317186967196,
+            10.292303977679916
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1908.371124510234,
+            806.9317186967196,
+            10.292303977679916
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1905.7730482988807,
+            805.4317186967196,
+            10.292303977679916
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1903.1749720875273,
+            803.9317186967196,
+            10.292303977679916
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1900.576895876174,
+            802.4317186967196,
+            10.292303977679916
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1897.9788196648205,
+            800.9317186967196,
+            10.292303977679916
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1895.3807434534672,
+            799.4317186967196,
+            10.292303977679916
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1892.7826672421138,
+            797.9317186967196,
+            10.292303977679916
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1890.1845910307604,
+            796.4317186967196,
+            10.292303977679916
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1887.586514819407,
+            794.9317186967196,
+            10.292303977679916
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1884.9884386080537,
+            793.4317186967196,
+            10.292303977679916
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1882.3903623967003,
+            791.9317186967196,
+            10.292303977679916
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1882.3903623967003,
+            791.9317186967196,
+            10.292303977679916
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1879.3903623967003,
+            791.9317186967196,
+            10.292303977679916
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1876.3903623967003,
+            791.9317186967196,
+            10.292303977679916
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1873.3903623967003,
+            791.9317186967196,
+            10.292303977679916
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1870.3903623967003,
+            791.9317186967196,
+            10.292303977679916
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1870.3903623967003,
+            791.9317186967196,
+            7.292303977679916
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1870.3903623967003,
+            791.9317186967196,
+            4.292303977679916
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1870.3903623967003,
+            791.9317186967196,
+            1.2923039776799161
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "ornate detailing",
+        "position": [
+            1846.37188,
+            779.86258,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "left",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_17-46-9_1102520059/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_17-46-9_1102520059/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..11d79b48dcc94470388cbbadf891c6a96e97554d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_17-46-9_1102520059/pose.jsonl
@@ -0,0 +1,262 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1405.3857884494591,
+            1465.2296091670207,
+            2.9089242225865455
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1405.3857884494591,
+            1465.2296091670207,
+            5.9089242225865455
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1405.3857884494591,
+            1465.2296091670207,
+            8.908924222586545
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1405.3857884494591,
+            1465.2296091670207,
+            11.908924222586545
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1405.3857884494591,
+            1465.2296091670207,
+            14.908924222586545
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1405.3857884494591,
+            1465.2296091670207,
+            17.908924222586545
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1405.3857884494591,
+            1465.2296091670207,
+            20.908924222586545
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1405.3857884494591,
+            1465.2296091670207,
+            23.908924222586545
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1405.3857884494591,
+            1465.2296091670207,
+            26.908924222586545
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1406.8857884494591,
+            1462.6315329556674,
+            26.908924222586545
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1408.3857884494591,
+            1460.033456744314,
+            26.908924222586545
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1408.3857884494591,
+            1460.033456744314,
+            23.908924222586545
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1408.3857884494591,
+            1460.033456744314,
+            20.908924222586545
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1408.3857884494591,
+            1460.033456744314,
+            17.908924222586545
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1408.3857884494591,
+            1460.033456744314,
+            14.908924222586545
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1408.3857884494591,
+            1460.033456744314,
+            11.908924222586545
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1408.3857884494591,
+            1460.033456744314,
+            8.908924222586545
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1408.3857884494591,
+            1460.033456744314,
+            5.9089242225865455
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1408.3857884494591,
+            1460.033456744314,
+            2.9089242225865455
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "many windows",
+        "position": [
+            1425.61547,
+            1390.43391,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_17-53-20_1540383426/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_17-53-20_1540383426/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..51423b462535f462c5d6951d8889406dc53dc8fa
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_17-53-20_1540383426/pose.jsonl
@@ -0,0 +1,223 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            826.9739951101806,
+            362.36239239397844,
+            2.3611288144807965
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            826.9739951101806,
+            362.36239239397844,
+            5.3611288144807965
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            826.9739951101806,
+            362.36239239397844,
+            8.361128814480796
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            826.9739951101806,
+            362.36239239397844,
+            11.361128814480796
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            826.9739951101806,
+            362.36239239397844,
+            14.361128814480796
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            826.9739951101806,
+            362.36239239397844,
+            17.361128814480796
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            829.9739951101806,
+            362.36239239397844,
+            17.361128814480796
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            829.9739951101806,
+            362.36239239397844,
+            17.361128814480796
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            829.9739951101806,
+            362.36239239397844,
+            17.361128814480796
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            831.4739951101806,
+            364.96046860533176,
+            17.361128814480796
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            832.9739951101806,
+            367.55854481668507,
+            17.361128814480796
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            832.9739951101806,
+            367.55854481668507,
+            14.361128814480796
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            832.9739951101806,
+            367.55854481668507,
+            11.361128814480796
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            832.9739951101806,
+            367.55854481668507,
+            8.361128814480796
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            832.9739951101806,
+            367.55854481668507,
+            5.3611288144807965
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            832.9739951101806,
+            367.55854481668507,
+            2.3611288144807965
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "ornate detailing",
+        "position": [
+            878.97445,
+            404.54707,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_17-55-45_35005211/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_17-55-45_35005211/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1b75fad0845f32ae75b1523c32dbe1c311ec4146
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_17-55-45_35005211/pose.jsonl
@@ -0,0 +1,236 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            806.5263178625981,
+            358.10141703655876,
+            1.3202062356296516
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            806.5263178625981,
+            358.10141703655876,
+            4.320206235629652
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            806.5263178625981,
+            358.10141703655876,
+            7.320206235629652
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            806.5263178625981,
+            358.10141703655876,
+            10.320206235629652
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            806.5263178625981,
+            358.10141703655876,
+            13.320206235629652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            809.1243940739514,
+            359.60141703655876,
+            13.320206235629652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            811.7224702853048,
+            361.10141703655876,
+            13.320206235629652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            814.3205464966582,
+            362.60141703655876,
+            13.320206235629652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            816.9186227080115,
+            364.10141703655876,
+            13.320206235629652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            819.5166989193649,
+            365.60141703655876,
+            13.320206235629652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            822.1147751307183,
+            367.10141703655876,
+            13.320206235629652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            824.7128513420716,
+            368.60141703655876,
+            13.320206235629652
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            827.310927553425,
+            370.10141703655876,
+            13.320206235629652
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            827.310927553425,
+            370.10141703655876,
+            10.320206235629652
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            827.310927553425,
+            370.10141703655876,
+            7.320206235629652
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            827.310927553425,
+            370.10141703655876,
+            4.320206235629652
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            827.310927553425,
+            370.10141703655876,
+            1.3202062356296516
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "ornate detailing",
+        "position": [
+            878.97445,
+            404.54707,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_18-14-28_1059961393/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_18-14-28_1059961393/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..eae52af237d6811a098ce3befe52632d94d753db
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_18-14-28_1059961393/pose.jsonl
@@ -0,0 +1,392 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1884.3066704064995,
+            1015.6050112704071,
+            1.6282286725248696
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1884.3066704064995,
+            1015.6050112704071,
+            4.62822867252487
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1884.3066704064995,
+            1015.6050112704071,
+            7.62822867252487
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1884.3066704064995,
+            1015.6050112704071,
+            10.62822867252487
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1884.3066704064995,
+            1015.6050112704071,
+            13.62822867252487
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1884.3066704064995,
+            1015.6050112704071,
+            16.62822867252487
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1885.8066704064995,
+            1018.2030874817603,
+            16.62822867252487
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1887.3066704064995,
+            1020.8011636931137,
+            16.62822867252487
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1888.8066704064995,
+            1023.3992399044671,
+            16.62822867252487
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1890.3066704064995,
+            1025.9973161158205,
+            16.62822867252487
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1891.8066704064995,
+            1028.5953923271738,
+            16.62822867252487
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1893.3066704064995,
+            1031.1934685385272,
+            16.62822867252487
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1894.8066704064995,
+            1033.7915447498806,
+            16.62822867252487
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1896.3066704064995,
+            1036.389620961234,
+            16.62822867252487
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1897.8066704064995,
+            1038.9876971725873,
+            16.62822867252487
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1899.3066704064995,
+            1041.5857733839407,
+            16.62822867252487
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1900.8066704064995,
+            1044.183849595294,
+            16.62822867252487
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1902.3066704064995,
+            1046.7819258066475,
+            16.62822867252487
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1903.8066704064995,
+            1049.3800020180008,
+            16.62822867252487
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1905.3066704064995,
+            1051.9780782293542,
+            16.62822867252487
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1905.3066704064995,
+            1051.9780782293542,
+            16.62822867252487
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1907.9047466178529,
+            1053.4780782293542,
+            16.62822867252487
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1910.5028228292063,
+            1054.9780782293542,
+            16.62822867252487
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1913.1008990405596,
+            1056.4780782293542,
+            16.62822867252487
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1913.1008990405596,
+            1056.4780782293542,
+            13.62822867252487
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1913.1008990405596,
+            1056.4780782293542,
+            10.62822867252487
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1913.1008990405596,
+            1056.4780782293542,
+            7.62822867252487
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1913.1008990405596,
+            1056.4780782293542,
+            4.62822867252487
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1913.1008990405596,
+            1056.4780782293542,
+            1.6282286725248696
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "beige",
+        "feature": "ornate detailing",
+        "position": [
+            -1935.48297,
+            1091.14305,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "right",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_18-21-12_859484421/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_18-21-12_859484421/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bb3596ef08194fa5ab444ea9c3d30c825c72bcf9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_18-21-12_859484421/pose.jsonl
@@ -0,0 +1,392 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1860.7544027861084,
+            664.2336849116618,
+            0.8631762866453521
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1860.7544027861084,
+            664.2336849116618,
+            3.863176286645352
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1860.7544027861084,
+            664.2336849116618,
+            6.863176286645352
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1860.7544027861084,
+            664.2336849116618,
+            9.863176286645352
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1860.7544027861084,
+            664.2336849116618,
+            12.863176286645352
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1860.7544027861084,
+            664.2336849116618,
+            15.863176286645352
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1860.7544027861084,
+            664.2336849116618,
+            18.863176286645352
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1860.7544027861084,
+            664.2336849116618,
+            21.863176286645352
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1860.7544027861084,
+            664.2336849116618,
+            24.863176286645352
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1860.7544027861084,
+            667.2336849116618,
+            24.863176286645352
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1860.7544027861084,
+            670.2336849116618,
+            24.863176286645352
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1860.7544027861084,
+            673.2336849116618,
+            24.863176286645352
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1860.7544027861084,
+            676.2336849116618,
+            24.863176286645352
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1860.7544027861084,
+            679.2336849116618,
+            24.863176286645352
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1860.7544027861084,
+            682.2336849116618,
+            24.863176286645352
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1860.7544027861084,
+            685.2336849116618,
+            24.863176286645352
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1860.7544027861084,
+            685.2336849116618,
+            24.863176286645352
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1859.2544027861084,
+            687.8317611230152,
+            24.863176286645352
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1857.7544027861084,
+            690.4298373343686,
+            24.863176286645352
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1856.2544027861084,
+            693.027913545722,
+            24.863176286645352
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1854.7544027861084,
+            695.6259897570753,
+            24.863176286645352
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1854.7544027861084,
+            695.6259897570753,
+            21.863176286645352
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1854.7544027861084,
+            695.6259897570753,
+            18.863176286645352
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1854.7544027861084,
+            695.6259897570753,
+            15.863176286645352
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1854.7544027861084,
+            695.6259897570753,
+            12.863176286645352
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1854.7544027861084,
+            695.6259897570753,
+            9.863176286645352
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1854.7544027861084,
+            695.6259897570753,
+            6.863176286645352
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1854.7544027861084,
+            695.6259897570753,
+            3.863176286645352
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1854.7544027861084,
+            695.6259897570753,
+            0.8631762866453521
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "arched windows",
+        "position": [
+            1846.75984,
+            727.00875,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_18-22-23_1914544919/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_18-22-23_1914544919/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..73a97f2e2d52ebbbebce08bbeca141deb9a6afb9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_18-22-23_1914544919/pose.jsonl
@@ -0,0 +1,379 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            153.0195058913283,
+            1193.2836023313034,
+            1.50766112990393
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            153.0195058913283,
+            1193.2836023313034,
+            4.50766112990393
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            153.0195058913283,
+            1193.2836023313034,
+            7.50766112990393
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            153.0195058913283,
+            1193.2836023313034,
+            10.50766112990393
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            150.42142967997498,
+            1194.7836023313034,
+            10.50766112990393
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            147.82335346862166,
+            1196.2836023313034,
+            10.50766112990393
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            147.82335346862166,
+            1196.2836023313034,
+            10.50766112990393
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            147.82335346862166,
+            1196.2836023313034,
+            10.50766112990393
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948968
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            147.82335346862166,
+            1199.2836023313034,
+            10.50766112990393
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            147.82335346862166,
+            1202.2836023313034,
+            10.50766112990393
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            147.82335346862166,
+            1205.2836023313034,
+            10.50766112990393
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            147.82335346862166,
+            1208.2836023313034,
+            10.50766112990393
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            147.82335346862166,
+            1211.2836023313034,
+            10.50766112990393
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            147.82335346862166,
+            1214.2836023313034,
+            10.50766112990393
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            147.82335346862166,
+            1217.2836023313034,
+            10.50766112990393
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            147.82335346862166,
+            1220.2836023313034,
+            10.50766112990393
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            147.82335346862166,
+            1223.2836023313034,
+            10.50766112990393
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            147.82335346862166,
+            1223.2836023313034,
+            10.50766112990393
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            146.32335346862166,
+            1225.8816785426568,
+            10.50766112990393
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            144.82335346862166,
+            1228.4797547540102,
+            10.50766112990393
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            143.32335346862166,
+            1231.0778309653635,
+            10.50766112990393
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            141.82335346862166,
+            1233.675907176717,
+            10.50766112990393
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            140.32335346862166,
+            1236.2739833880703,
+            10.50766112990393
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            140.32335346862166,
+            1236.2739833880703,
+            10.50766112990393
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            140.32335346862166,
+            1239.2739833880703,
+            10.50766112990393
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            140.32335346862166,
+            1239.2739833880703,
+            7.50766112990393
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            140.32335346862166,
+            1239.2739833880703,
+            4.50766112990393
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            140.32335346862166,
+            1239.2739833880703,
+            1.50766112990393
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948872
+    }
+}
+{
+    "aim_landmark": {
+        "color": "Red",
+        "feature": "Brick facade with decorative elements",
+        "position": [
+            133.02746,
+            1260.19742,
+            0.0
+        ],
+        "shape": "Rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_18-32-38_1129566413/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_18-32-38_1129566413/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f4ea58fae6da14e68df9c14e11ea121affb50a5c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_18-32-38_1129566413/pose.jsonl
@@ -0,0 +1,301 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -901.3768125156255,
+            1848.9607996804932,
+            2.456232429398497
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -901.3768125156255,
+            1848.9607996804932,
+            5.456232429398497
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -901.3768125156255,
+            1848.9607996804932,
+            8.456232429398497
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -901.3768125156255,
+            1848.9607996804932,
+            11.456232429398497
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -901.3768125156255,
+            1848.9607996804932,
+            14.456232429398497
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -901.3768125156255,
+            1848.9607996804932,
+            17.456232429398497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -899.8768125156255,
+            1851.5588758918466,
+            17.456232429398497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -898.3768125156255,
+            1854.1569521032,
+            17.456232429398497
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -898.3768125156255,
+            1854.1569521032,
+            17.456232429398497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -895.7787363042721,
+            1855.6569521032,
+            17.456232429398497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -893.1806600929187,
+            1857.1569521032,
+            17.456232429398497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -890.5825838815654,
+            1858.6569521032,
+            17.456232429398497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -887.984507670212,
+            1860.1569521032,
+            17.456232429398497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -885.3864314588586,
+            1861.6569521032,
+            17.456232429398497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -882.7883552475053,
+            1863.1569521032,
+            17.456232429398497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -880.1902790361519,
+            1864.6569521032,
+            17.456232429398497
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -877.5922028247985,
+            1866.1569521032,
+            17.456232429398497
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -877.5922028247985,
+            1866.1569521032,
+            14.456232429398497
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -877.5922028247985,
+            1866.1569521032,
+            11.456232429398497
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -877.5922028247985,
+            1866.1569521032,
+            8.456232429398497
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -877.5922028247985,
+            1866.1569521032,
+            5.456232429398497
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -877.5922028247985,
+            1866.1569521032,
+            2.456232429398497
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "ornate detailing",
+        "position": [
+            -832.1707799999999,
+            1899.44344,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_18-35-20_412776091/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_18-35-20_412776091/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9d594a58e010e3e3be8655fa4e342545f175e1e1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_18-35-20_412776091/pose.jsonl
@@ -0,0 +1,145 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            828.1621298217143,
+            359.38267195507046,
+            2.420296215564912
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            828.1621298217143,
+            359.38267195507046,
+            5.420296215564912
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            828.1621298217143,
+            359.38267195507046,
+            8.420296215564912
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            828.1621298217143,
+            359.38267195507046,
+            11.420296215564912
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            828.1621298217143,
+            362.38267195507046,
+            11.420296215564912
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            828.1621298217143,
+            365.38267195507046,
+            11.420296215564912
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            828.1621298217143,
+            368.38267195507046,
+            11.420296215564912
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            828.1621298217143,
+            368.38267195507046,
+            8.420296215564912
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            828.1621298217143,
+            368.38267195507046,
+            5.420296215564912
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            828.1621298217143,
+            368.38267195507046,
+            2.420296215564912
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "beige",
+        "feature": "classical architectural elements",
+        "position": [
+            823.02219,
+            435.68309,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_18-38-31_137806862/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_18-38-31_137806862/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2cb5acbc69c0119500db854a495f4b54cb514bfa
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_18-38-31_137806862/pose.jsonl
@@ -0,0 +1,223 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1882.2530044290913,
+            1169.03450629326,
+            1.2394659355214745
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1882.2530044290913,
+            1169.03450629326,
+            4.2394659355214745
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1882.2530044290913,
+            1169.03450629326,
+            7.2394659355214745
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1882.2530044290913,
+            1169.03450629326,
+            10.239465935521475
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1882.2530044290913,
+            1169.03450629326,
+            13.239465935521475
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1880.7530044290913,
+            1166.4364300819066,
+            13.239465935521475
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1879.2530044290913,
+            1163.8383538705532,
+            13.239465935521475
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1877.7530044290913,
+            1161.2402776591998,
+            13.239465935521475
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1876.2530044290913,
+            1158.6422014478464,
+            13.239465935521475
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1874.7530044290913,
+            1156.044125236493,
+            13.239465935521475
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1873.2530044290913,
+            1153.4460490251397,
+            13.239465935521475
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1871.7530044290913,
+            1150.8479728137863,
+            13.239465935521475
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1871.7530044290913,
+            1150.8479728137863,
+            10.239465935521475
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1871.7530044290913,
+            1150.8479728137863,
+            7.2394659355214745
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1871.7530044290913,
+            1150.8479728137863,
+            4.2394659355214745
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1871.7530044290913,
+            1150.8479728137863,
+            1.2394659355214745
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "elevated central section",
+        "position": [
+            1846.22578,
+            1116.83703,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_18-43-1_511702305/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_18-43-1_511702305/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..302e3b0671eb783cf8b774722f6853c2fc71c1c2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_18-43-1_511702305/pose.jsonl
@@ -0,0 +1,132 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            599.0024235144688,
+            1464.8022889474,
+            1.9770783225942665
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            599.0024235144688,
+            1464.8022889474,
+            4.9770783225942665
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            599.0024235144688,
+            1464.8022889474,
+            7.9770783225942665
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            599.0024235144688,
+            1464.8022889474,
+            10.977078322594267
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            601.6004997258221,
+            1466.3022889474,
+            10.977078322594267
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            604.1985759371755,
+            1467.8022889474,
+            10.977078322594267
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            604.1985759371755,
+            1467.8022889474,
+            7.9770783225942665
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            604.1985759371755,
+            1467.8022889474,
+            4.9770783225942665
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            604.1985759371755,
+            1467.8022889474,
+            1.9770783225942665
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "ornate facade",
+        "position": [
+            661.94289,
+            1526.86688,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_18-55-25_1141616124/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_18-55-25_1141616124/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..14975e1dfeb2e7470037676417254b4662d67875
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_18-55-25_1141616124/pose.jsonl
@@ -0,0 +1,145 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1445.0658306522594,
+            1739.786388318186,
+            2.5061621055298815
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1445.0658306522594,
+            1739.786388318186,
+            5.5061621055298815
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1445.0658306522594,
+            1739.786388318186,
+            8.506162105529882
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1445.0658306522594,
+            1739.786388318186,
+            11.506162105529882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1447.6639068636127,
+            1738.286388318186,
+            11.506162105529882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1450.261983074966,
+            1736.786388318186,
+            11.506162105529882
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1452.8600592863195,
+            1735.286388318186,
+            11.506162105529882
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1452.8600592863195,
+            1735.286388318186,
+            8.506162105529882
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1452.8600592863195,
+            1735.286388318186,
+            5.5061621055298815
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1452.8600592863195,
+            1735.286388318186,
+            2.5061621055298815
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "beige",
+        "feature": "classical architectural elements",
+        "position": [
+            -1510.96594,
+            1717.22375,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_18-7-47_635723058/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_18-7-47_635723058/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6de3d1d33ce9ee32d8bdddce3cc94a8caf90ee61
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_18-7-47_635723058/pose.jsonl
@@ -0,0 +1,314 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            937.230965760519,
+            1737.1177001115916,
+            1.16791152356517
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            937.230965760519,
+            1737.1177001115916,
+            4.16791152356517
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            937.230965760519,
+            1737.1177001115916,
+            7.16791152356517
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            937.230965760519,
+            1737.1177001115916,
+            10.16791152356517
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            937.230965760519,
+            1737.1177001115916,
+            13.16791152356517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            934.230965760519,
+            1737.1177001115916,
+            13.16791152356517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            931.230965760519,
+            1737.1177001115916,
+            13.16791152356517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            928.230965760519,
+            1737.1177001115916,
+            13.16791152356517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            925.230965760519,
+            1737.1177001115916,
+            13.16791152356517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            922.230965760519,
+            1737.1177001115916,
+            13.16791152356517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            919.230965760519,
+            1737.1177001115916,
+            13.16791152356517
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            919.230965760519,
+            1737.1177001115916,
+            13.16791152356517
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            919.230965760519,
+            1737.1177001115916,
+            13.16791152356517
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            919.230965760519,
+            1737.1177001115916,
+            13.16791152356517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            919.230965760519,
+            1740.1177001115916,
+            13.16791152356517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            919.230965760519,
+            1743.1177001115916,
+            13.16791152356517
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            919.230965760519,
+            1743.1177001115916,
+            13.16791152356517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            917.730965760519,
+            1745.715776322945,
+            13.16791152356517
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            916.230965760519,
+            1748.3138525342983,
+            13.16791152356517
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            916.230965760519,
+            1748.3138525342983,
+            10.16791152356517
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            916.230965760519,
+            1748.3138525342983,
+            7.16791152356517
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            916.230965760519,
+            1748.3138525342983,
+            4.16791152356517
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            916.230965760519,
+            1748.3138525342983,
+            1.16791152356517
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "large windows",
+        "position": [
+            863.8244500000001,
+            1779.6425,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "left",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_19-1-11_610515434/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_19-1-11_610515434/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b6e05af7b105faa5f353e5304d6a30dcbfa4a682
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_19-1-11_610515434/pose.jsonl
@@ -0,0 +1,314 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1967.964643169644,
+            1458.7844771660543,
+            1.5129632839018932
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1967.964643169644,
+            1458.7844771660543,
+            4.512963283901893
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1967.964643169644,
+            1458.7844771660543,
+            7.512963283901893
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1967.964643169644,
+            1458.7844771660543,
+            10.512963283901893
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1967.964643169644,
+            1458.7844771660543,
+            13.512963283901893
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1967.964643169644,
+            1458.7844771660543,
+            16.512963283901893
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1967.964643169644,
+            1458.7844771660543,
+            19.512963283901893
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1967.964643169644,
+            1458.7844771660543,
+            22.512963283901893
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1967.964643169644,
+            1458.7844771660543,
+            25.512963283901893
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1967.964643169644,
+            1458.7844771660543,
+            28.512963283901893
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1970.5627193809974,
+            1460.2844771660543,
+            28.512963283901893
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1973.1607955923507,
+            1461.7844771660543,
+            28.512963283901893
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1975.758871803704,
+            1463.2844771660543,
+            28.512963283901893
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1978.3569480150575,
+            1464.7844771660543,
+            28.512963283901893
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1978.3569480150575,
+            1464.7844771660543,
+            25.512963283901893
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1978.3569480150575,
+            1464.7844771660543,
+            22.512963283901893
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1978.3569480150575,
+            1464.7844771660543,
+            19.512963283901893
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1978.3569480150575,
+            1464.7844771660543,
+            16.512963283901893
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1978.3569480150575,
+            1464.7844771660543,
+            13.512963283901893
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1978.3569480150575,
+            1464.7844771660543,
+            10.512963283901893
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1978.3569480150575,
+            1464.7844771660543,
+            7.512963283901893
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1978.3569480150575,
+            1464.7844771660543,
+            4.512963283901893
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1978.3569480150575,
+            1464.7844771660543,
+            1.5129632839018932
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "open center",
+        "position": [
+            -2025.97797,
+            1508.48891,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_19-17-19_1264095060/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_19-17-19_1264095060/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c0304b2125a3c16d77b87434c36b4c04c8632e26
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_19-17-19_1264095060/pose.jsonl
@@ -0,0 +1,301 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1243.1130139166553,
+            1432.8535121907594,
+            1.1847832480474594
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1243.1130139166553,
+            1432.8535121907594,
+            4.184783248047459
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1243.1130139166553,
+            1432.8535121907594,
+            7.184783248047459
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1243.1130139166553,
+            1432.8535121907594,
+            10.18478324804746
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1243.1130139166553,
+            1432.8535121907594,
+            13.18478324804746
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1243.1130139166553,
+            1432.8535121907594,
+            16.18478324804746
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1243.1130139166553,
+            1432.8535121907594,
+            19.18478324804746
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1243.1130139166553,
+            1432.8535121907594,
+            22.18478324804746
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1243.1130139166553,
+            1432.8535121907594,
+            25.18478324804746
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1243.1130139166553,
+            1432.8535121907594,
+            28.18478324804746
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1240.1130139166553,
+            1432.8535121907594,
+            28.18478324804746
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1237.1130139166553,
+            1432.8535121907594,
+            28.18478324804746
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1234.1130139166553,
+            1432.8535121907594,
+            28.18478324804746
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1234.1130139166553,
+            1432.8535121907594,
+            25.18478324804746
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1234.1130139166553,
+            1432.8535121907594,
+            22.18478324804746
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1234.1130139166553,
+            1432.8535121907594,
+            19.18478324804746
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1234.1130139166553,
+            1432.8535121907594,
+            16.18478324804746
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1234.1130139166553,
+            1432.8535121907594,
+            13.18478324804746
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1234.1130139166553,
+            1432.8535121907594,
+            10.18478324804746
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1234.1130139166553,
+            1432.8535121907594,
+            7.184783248047459
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1234.1130139166553,
+            1432.8535121907594,
+            4.184783248047459
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1234.1130139166553,
+            1432.8535121907594,
+            1.1847832480474594
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "gray",
+        "feature": "glass windows",
+        "position": [
+            -1185.28836,
+            1415.4946900000002,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_19-22-47_1984210012/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_19-22-47_1984210012/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fe58d023b0e2c241f48e3eacb1262b0312086e18
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_19-22-47_1984210012/pose.jsonl
@@ -0,0 +1,262 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -713.1481032245089,
+            1185.820989417189,
+            1.9125096877622312
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -713.1481032245089,
+            1185.820989417189,
+            4.912509687762231
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -713.1481032245089,
+            1185.820989417189,
+            7.912509687762231
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -713.1481032245089,
+            1185.820989417189,
+            10.912509687762231
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -715.7461794358621,
+            1187.320989417189,
+            10.912509687762231
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -718.3442556472155,
+            1188.820989417189,
+            10.912509687762231
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -720.9423318585689,
+            1190.320989417189,
+            10.912509687762231
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -723.5404080699223,
+            1191.820989417189,
+            10.912509687762231
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -726.1384842812756,
+            1193.320989417189,
+            10.912509687762231
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -728.736560492629,
+            1194.820989417189,
+            10.912509687762231
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -731.3346367039824,
+            1196.320989417189,
+            10.912509687762231
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -733.9327129153357,
+            1197.820989417189,
+            10.912509687762231
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -733.9327129153357,
+            1197.820989417189,
+            10.912509687762231
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -736.9327129153357,
+            1197.820989417189,
+            10.912509687762231
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -739.9327129153357,
+            1197.820989417189,
+            10.912509687762231
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -742.9327129153357,
+            1197.820989417189,
+            10.912509687762231
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -742.9327129153357,
+            1197.820989417189,
+            7.912509687762231
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -742.9327129153357,
+            1197.820989417189,
+            4.912509687762231
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -742.9327129153357,
+            1197.820989417189,
+            1.9125096877622312
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "glass windows",
+        "position": [
+            -800.52586,
+            1225.18375,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_19-24-30_1749698586/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_19-24-30_1749698586/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..94712551a6e69e089c412a22cc2beb2ce551cefd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_19-24-30_1749698586/pose.jsonl
@@ -0,0 +1,340 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            835.633469888658,
+            -85.1655112888257,
+            2.9508536517861934
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            835.633469888658,
+            -85.1655112888257,
+            5.950853651786193
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            835.633469888658,
+            -85.1655112888257,
+            8.950853651786193
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            835.633469888658,
+            -85.1655112888257,
+            11.950853651786193
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            835.633469888658,
+            -85.1655112888257,
+            14.950853651786193
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            835.633469888658,
+            -85.1655112888257,
+            17.950853651786193
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            835.633469888658,
+            -85.1655112888257,
+            20.950853651786193
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            835.633469888658,
+            -85.1655112888257,
+            23.950853651786193
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            835.633469888658,
+            -85.1655112888257,
+            26.950853651786193
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            835.633469888658,
+            -85.1655112888257,
+            29.950853651786193
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            834.133469888658,
+            -82.56743507747238,
+            29.950853651786193
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            832.633469888658,
+            -79.96935886611907,
+            29.950853651786193
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            831.133469888658,
+            -77.37128265476575,
+            29.950853651786193
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            831.133469888658,
+            -77.37128265476575,
+            29.950853651786193
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            831.133469888658,
+            -74.37128265476575,
+            29.950853651786193
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            831.133469888658,
+            -71.37128265476575,
+            29.950853651786193
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            831.133469888658,
+            -71.37128265476575,
+            26.950853651786193
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            831.133469888658,
+            -71.37128265476575,
+            23.950853651786193
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            831.133469888658,
+            -71.37128265476575,
+            20.950853651786193
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            831.133469888658,
+            -71.37128265476575,
+            17.950853651786193
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            831.133469888658,
+            -71.37128265476575,
+            14.950853651786193
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            831.133469888658,
+            -71.37128265476575,
+            11.950853651786193
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            831.133469888658,
+            -71.37128265476575,
+            8.950853651786193
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            831.133469888658,
+            -71.37128265476575,
+            5.950853651786193
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            831.133469888658,
+            -71.37128265476575,
+            2.9508536517861934
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "many windows",
+        "position": [
+            815.5393799999999,
+            -16.67599,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_19-28-59_463480570/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_19-28-59_463480570/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..483ccace48b13ad25b34cb4ba9b6c6cf7ebcb421
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_19-28-59_463480570/pose.jsonl
@@ -0,0 +1,249 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -465.44509118631277,
+            1779.4628814787866,
+            1.2775088702858035
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -465.44509118631277,
+            1779.4628814787866,
+            4.2775088702858035
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -465.44509118631277,
+            1779.4628814787866,
+            7.2775088702858035
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -465.44509118631277,
+            1779.4628814787866,
+            10.277508870285804
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -465.44509118631277,
+            1779.4628814787866,
+            13.277508870285804
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -465.44509118631277,
+            1779.4628814787866,
+            16.277508870285804
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -465.44509118631277,
+            1779.4628814787866,
+            19.277508870285804
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -465.44509118631277,
+            1779.4628814787866,
+            22.277508870285804
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -466.94509118631277,
+            1782.06095769014,
+            22.277508870285804
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -468.44509118631277,
+            1784.6590339014933,
+            22.277508870285804
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -469.94509118631277,
+            1787.2571101128467,
+            22.277508870285804
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -469.94509118631277,
+            1787.2571101128467,
+            19.277508870285804
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -469.94509118631277,
+            1787.2571101128467,
+            16.277508870285804
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -469.94509118631277,
+            1787.2571101128467,
+            13.277508870285804
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -469.94509118631277,
+            1787.2571101128467,
+            10.277508870285804
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -469.94509118631277,
+            1787.2571101128467,
+            7.2775088702858035
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -469.94509118631277,
+            1787.2571101128467,
+            4.2775088702858035
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -469.94509118631277,
+            1787.2571101128467,
+            1.2775088702858035
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "red",
+        "feature": "ornate facade",
+        "position": [
+            -491.80246,
+            1872.3725,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_19-36-48_927612902/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_19-36-48_927612902/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bf80e62132aae5e4e34cf0468cf6fa756684723b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_19-36-48_927612902/pose.jsonl
@@ -0,0 +1,392 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1215.5737382349946,
+            1545.0807776647782,
+            0.3571026973631959
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1215.5737382349946,
+            1545.0807776647782,
+            3.357102697363196
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1215.5737382349946,
+            1545.0807776647782,
+            6.357102697363196
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1215.5737382349946,
+            1545.0807776647782,
+            9.357102697363196
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1215.5737382349946,
+            1545.0807776647782,
+            12.357102697363196
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1215.5737382349946,
+            1545.0807776647782,
+            15.357102697363196
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1215.5737382349946,
+            1545.0807776647782,
+            18.357102697363196
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1215.5737382349946,
+            1545.0807776647782,
+            21.357102697363196
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1215.5737382349946,
+            1545.0807776647782,
+            24.357102697363196
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1215.5737382349946,
+            1545.0807776647782,
+            27.357102697363196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1212.9756620236412,
+            1546.5807776647782,
+            27.357102697363196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1210.3775858122879,
+            1548.0807776647782,
+            27.357102697363196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1207.7795096009345,
+            1549.5807776647782,
+            27.357102697363196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1205.1814333895811,
+            1551.0807776647782,
+            27.357102697363196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1202.5833571782277,
+            1552.5807776647782,
+            27.357102697363196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1199.9852809668744,
+            1554.0807776647782,
+            27.357102697363196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1197.387204755521,
+            1555.5807776647782,
+            27.357102697363196
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1197.387204755521,
+            1555.5807776647782,
+            27.357102697363196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1194.387204755521,
+            1555.5807776647782,
+            27.357102697363196
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1191.387204755521,
+            1555.5807776647782,
+            27.357102697363196
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1191.387204755521,
+            1555.5807776647782,
+            24.357102697363196
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1191.387204755521,
+            1555.5807776647782,
+            21.357102697363196
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1191.387204755521,
+            1555.5807776647782,
+            18.357102697363196
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1191.387204755521,
+            1555.5807776647782,
+            15.357102697363196
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1191.387204755521,
+            1555.5807776647782,
+            12.357102697363196
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1191.387204755521,
+            1555.5807776647782,
+            9.357102697363196
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1191.387204755521,
+            1555.5807776647782,
+            6.357102697363196
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1191.387204755521,
+            1555.5807776647782,
+            3.357102697363196
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1191.387204755521,
+            1555.5807776647782,
+            0.3571026973631959
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "arched windows",
+        "position": [
+            1137.645,
+            1579.2678099999998,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_19-41-49_959997301/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_19-41-49_959997301/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d1aff9c15645f39b53c91f5c7c8732159d0ac17d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_19-41-49_959997301/pose.jsonl
@@ -0,0 +1,223 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -558.3219504582107,
+            1181.5696379681194,
+            2.8533694286659532
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -558.3219504582107,
+            1181.5696379681194,
+            5.853369428665953
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -558.3219504582107,
+            1181.5696379681194,
+            8.853369428665953
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -558.3219504582107,
+            1181.5696379681194,
+            11.853369428665953
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -558.3219504582107,
+            1181.5696379681194,
+            14.853369428665953
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -558.3219504582107,
+            1181.5696379681194,
+            17.853369428665953
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -555.3219504582107,
+            1181.5696379681194,
+            17.853369428665953
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -555.3219504582107,
+            1181.5696379681194,
+            17.853369428665953
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -555.3219504582107,
+            1181.5696379681194,
+            17.853369428665953
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -553.8219504582107,
+            1184.1677141794728,
+            17.853369428665953
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -552.3219504582107,
+            1186.7657903908262,
+            17.853369428665953
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -552.3219504582107,
+            1186.7657903908262,
+            14.853369428665953
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -552.3219504582107,
+            1186.7657903908262,
+            11.853369428665953
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -552.3219504582107,
+            1186.7657903908262,
+            8.853369428665953
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -552.3219504582107,
+            1186.7657903908262,
+            5.853369428665953
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -552.3219504582107,
+            1186.7657903908262,
+            2.8533694286659532
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "ornate detailing",
+        "position": [
+            -492.58527000000004,
+            1242.76281,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_19-45-31_593209441/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_19-45-31_593209441/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2842f6203c4c1b1b0460142f13d44665fd20f4a9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_19-45-31_593209441/pose.jsonl
@@ -0,0 +1,210 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            753.6601240595922,
+            -227.92299300127908,
+            1.8962510540530921
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            753.6601240595922,
+            -227.92299300127908,
+            4.896251054053092
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            753.6601240595922,
+            -227.92299300127908,
+            7.896251054053092
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            753.6601240595922,
+            -227.92299300127908,
+            10.896251054053092
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            753.6601240595922,
+            -227.92299300127908,
+            13.896251054053092
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            753.6601240595922,
+            -227.92299300127908,
+            16.896251054053092
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            753.6601240595922,
+            -227.92299300127908,
+            19.896251054053092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            752.1601240595922,
+            -225.32491678992577,
+            19.896251054053092
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            750.6601240595922,
+            -222.72684057857245,
+            19.896251054053092
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            750.6601240595922,
+            -222.72684057857245,
+            16.896251054053092
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            750.6601240595922,
+            -222.72684057857245,
+            13.896251054053092
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            750.6601240595922,
+            -222.72684057857245,
+            10.896251054053092
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            750.6601240595922,
+            -222.72684057857245,
+            7.896251054053092
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            750.6601240595922,
+            -222.72684057857245,
+            4.896251054053092
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            750.6601240595922,
+            -222.72684057857245,
+            1.8962510540530921
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "classical architectural elements",
+        "position": [
+            699.21727,
+            -170.91953,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_19-47-16_894429689/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_19-47-16_894429689/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2f6a6e49c366422fcbfeb4d7b68dad00c94efc1e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_19-47-16_894429689/pose.jsonl
@@ -0,0 +1,392 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1733.9562448457982,
+            987.8766125506187,
+            0.7686002986839107
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1733.9562448457982,
+            987.8766125506187,
+            3.7686002986839107
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1733.9562448457982,
+            987.8766125506187,
+            6.768600298683911
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1733.9562448457982,
+            987.8766125506187,
+            9.76860029868391
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1733.9562448457982,
+            987.8766125506187,
+            12.76860029868391
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1733.9562448457982,
+            987.8766125506187,
+            15.76860029868391
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1733.9562448457982,
+            987.8766125506187,
+            18.76860029868391
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1735.4562448457982,
+            990.474688761972,
+            18.76860029868391
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1736.9562448457982,
+            993.0727649733253,
+            18.76860029868391
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1738.4562448457982,
+            995.6708411846787,
+            18.76860029868391
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1739.9562448457982,
+            998.2689173960321,
+            18.76860029868391
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1741.4562448457982,
+            1000.8669936073854,
+            18.76860029868391
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1742.9562448457982,
+            1003.4650698187388,
+            18.76860029868391
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1744.4562448457982,
+            1006.0631460300922,
+            18.76860029868391
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1745.9562448457982,
+            1008.6612222414456,
+            18.76860029868391
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1747.4562448457982,
+            1011.2592984527989,
+            18.76860029868391
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1748.9562448457982,
+            1013.8573746641523,
+            18.76860029868391
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1750.4562448457982,
+            1016.4554508755057,
+            18.76860029868391
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1750.4562448457982,
+            1016.4554508755057,
+            18.76860029868391
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1750.4562448457982,
+            1019.4554508755057,
+            18.76860029868391
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1750.4562448457982,
+            1022.4554508755057,
+            18.76860029868391
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1750.4562448457982,
+            1025.4554508755057,
+            18.76860029868391
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1750.4562448457982,
+            1028.4554508755057,
+            18.76860029868391
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1750.4562448457982,
+            1028.4554508755057,
+            15.76860029868391
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1750.4562448457982,
+            1028.4554508755057,
+            12.76860029868391
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1750.4562448457982,
+            1028.4554508755057,
+            9.76860029868391
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1750.4562448457982,
+            1028.4554508755057,
+            6.768600298683911
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1750.4562448457982,
+            1028.4554508755057,
+            3.7686002986839107
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1750.4562448457982,
+            1028.4554508755057,
+            0.7686002986839107
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "tall and narrow",
+        "position": [
+            -1760.29406,
+            1062.37844,
+            6.1999900000000006
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_19-53-13_1063958031/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_19-53-13_1063958031/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..57df9680075df499cddb96a694a147ebc1e61745
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_19-53-13_1063958031/pose.jsonl
@@ -0,0 +1,262 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            365.79046201378947,
+            1184.9338639895727,
+            2.5372535064695363
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            365.79046201378947,
+            1184.9338639895727,
+            5.537253506469536
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            365.79046201378947,
+            1184.9338639895727,
+            8.537253506469536
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            365.79046201378947,
+            1184.9338639895727,
+            11.537253506469536
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            365.79046201378947,
+            1184.9338639895727,
+            14.537253506469536
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            365.79046201378947,
+            1184.9338639895727,
+            17.537253506469536
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            365.79046201378947,
+            1184.9338639895727,
+            20.537253506469536
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            365.79046201378947,
+            1181.9338639895727,
+            20.537253506469536
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            365.79046201378947,
+            1178.9338639895727,
+            20.537253506469536
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            365.79046201378947,
+            1175.9338639895727,
+            20.537253506469536
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            365.79046201378947,
+            1175.9338639895727,
+            20.537253506469536
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            364.29046201378947,
+            1173.3357877782194,
+            20.537253506469536
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            362.79046201378947,
+            1170.737711566866,
+            20.537253506469536
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            362.79046201378947,
+            1170.737711566866,
+            17.537253506469536
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            362.79046201378947,
+            1170.737711566866,
+            14.537253506469536
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            362.79046201378947,
+            1170.737711566866,
+            11.537253506469536
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            362.79046201378947,
+            1170.737711566866,
+            8.537253506469536
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            362.79046201378947,
+            1170.737711566866,
+            5.537253506469536
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            362.79046201378947,
+            1170.737711566866,
+            2.5372535064695363
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "red",
+        "feature": "ornate facade",
+        "position": [
+            340.15016,
+            1103.7703900000001,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_19-6-25_356426808/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_19-6-25_356426808/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7e49064f2cfd8332a2abb64390149740bd16f74e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_19-6-25_356426808/pose.jsonl
@@ -0,0 +1,366 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1451.4829708944123,
+            312.794886886848,
+            0.7128017689613415
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1451.4829708944123,
+            312.794886886848,
+            3.7128017689613415
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1451.4829708944123,
+            312.794886886848,
+            6.7128017689613415
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1451.4829708944123,
+            312.794886886848,
+            9.712801768961342
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1451.4829708944123,
+            312.794886886848,
+            12.712801768961342
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1451.4829708944123,
+            312.794886886848,
+            15.712801768961342
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1451.4829708944123,
+            312.794886886848,
+            18.71280176896134
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1448.4829708944123,
+            312.794886886848,
+            18.71280176896134
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1445.4829708944123,
+            312.794886886848,
+            18.71280176896134
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1442.4829708944123,
+            312.794886886848,
+            18.71280176896134
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1439.4829708944123,
+            312.794886886848,
+            18.71280176896134
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1436.4829708944123,
+            312.794886886848,
+            18.71280176896134
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1433.4829708944123,
+            312.794886886848,
+            18.71280176896134
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1430.4829708944123,
+            312.794886886848,
+            18.71280176896134
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1427.4829708944123,
+            312.794886886848,
+            18.71280176896134
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1424.4829708944123,
+            312.794886886848,
+            18.71280176896134
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1421.4829708944123,
+            312.794886886848,
+            18.71280176896134
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1418.4829708944123,
+            312.794886886848,
+            18.71280176896134
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1418.4829708944123,
+            312.794886886848,
+            18.71280176896134
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1415.884894683059,
+            311.294886886848,
+            18.71280176896134
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1413.2868184717056,
+            309.794886886848,
+            18.71280176896134
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1413.2868184717056,
+            309.794886886848,
+            15.712801768961342
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1413.2868184717056,
+            309.794886886848,
+            12.712801768961342
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1413.2868184717056,
+            309.794886886848,
+            9.712801768961342
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1413.2868184717056,
+            309.794886886848,
+            6.7128017689613415
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1413.2868184717056,
+            309.794886886848,
+            3.7128017689613415
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1413.2868184717056,
+            309.794886886848,
+            0.7128017689613415
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "red",
+        "feature": "ornate detailing",
+        "position": [
+            1356.73734,
+            302.27453,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_20-19-37_1573363368/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_20-19-37_1573363368/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c175352f22af25cd4b1f1c1356b675ff224247b7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_20-19-37_1573363368/pose.jsonl
@@ -0,0 +1,132 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1879.8590856729381,
+            932.8156767637663,
+            1.6173336711048751
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1879.8590856729381,
+            932.8156767637663,
+            4.617333671104875
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1879.8590856729381,
+            932.8156767637663,
+            7.617333671104875
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1879.8590856729381,
+            932.8156767637663,
+            10.617333671104875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1877.2610094615848,
+            934.3156767637663,
+            10.617333671104875
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1874.6629332502314,
+            935.8156767637663,
+            10.617333671104875
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1874.6629332502314,
+            935.8156767637663,
+            7.617333671104875
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1874.6629332502314,
+            935.8156767637663,
+            4.617333671104875
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1874.6629332502314,
+            935.8156767637663,
+            1.6173336711048751
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "open interior",
+        "position": [
+            1812.73516,
+            967.9,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_20-20-1_1409959708/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_20-20-1_1409959708/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f30976cdf0c19abe4a46590ed1aa58114df76ef8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_20-20-1_1409959708/pose.jsonl
@@ -0,0 +1,275 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1099.3419862249534,
+            1717.9139775833034,
+            1.6000892739526975
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1099.3419862249534,
+            1717.9139775833034,
+            4.6000892739526975
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1099.3419862249534,
+            1717.9139775833034,
+            7.6000892739526975
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1099.3419862249534,
+            1717.9139775833034,
+            10.600089273952698
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1101.9400624363068,
+            1719.4139775833034,
+            10.600089273952698
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1104.5381386476602,
+            1720.9139775833034,
+            10.600089273952698
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1107.1362148590135,
+            1722.4139775833034,
+            10.600089273952698
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1107.1362148590135,
+            1722.4139775833034,
+            10.600089273952698
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1108.6362148590135,
+            1725.0120537946568,
+            10.600089273952698
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1110.1362148590135,
+            1727.6101300060102,
+            10.600089273952698
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1111.6362148590135,
+            1730.2082062173636,
+            10.600089273952698
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1113.1362148590135,
+            1732.806282428717,
+            10.600089273952698
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1113.1362148590135,
+            1732.806282428717,
+            10.600089273952698
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1115.734291070367,
+            1734.306282428717,
+            10.600089273952698
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1118.3323672817203,
+            1735.806282428717,
+            10.600089273952698
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1120.9304434930737,
+            1737.306282428717,
+            10.600089273952698
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1123.528519704427,
+            1738.806282428717,
+            10.600089273952698
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1123.528519704427,
+            1738.806282428717,
+            7.6000892739526975
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1123.528519704427,
+            1738.806282428717,
+            4.6000892739526975
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1123.528519704427,
+            1738.806282428717,
+            1.6000892739526975
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "red",
+        "feature": "ornate facade",
+        "position": [
+            -1155.48844,
+            1767.51109,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_20-21-6_2077486715/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_20-21-6_2077486715/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a94db052eba5b92c2179e07aa4807a2414465e67
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_20-21-6_2077486715/pose.jsonl
@@ -0,0 +1,106 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1017.8679859674131,
+            1470.3363508157724,
+            2.085809406574006
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1017.8679859674131,
+            1470.3363508157724,
+            5.085809406574006
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1017.8679859674131,
+            1470.3363508157724,
+            8.085809406574006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1016.3679859674131,
+            1467.738274604419,
+            8.085809406574006
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1014.8679859674131,
+            1465.1401983930657,
+            8.085809406574006
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1014.8679859674131,
+            1465.1401983930657,
+            5.085809406574006
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1014.8679859674131,
+            1465.1401983930657,
+            2.085809406574006
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "open space in center",
+        "position": [
+            -958.9503100000001,
+            1407.41453,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_20-43-16_116087764/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_20-43-16_116087764/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f3876f512dab46b0d1adc6bf04d0d8acedbd8e6c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_20-43-16_116087764/pose.jsonl
@@ -0,0 +1,340 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1502.7539457136475,
+            67.08883252589798,
+            1.651298269754605
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1502.7539457136475,
+            67.08883252589798,
+            4.651298269754605
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1502.7539457136475,
+            67.08883252589798,
+            7.651298269754605
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1502.7539457136475,
+            67.08883252589798,
+            10.651298269754605
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1502.7539457136475,
+            67.08883252589798,
+            13.651298269754605
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1502.7539457136475,
+            67.08883252589798,
+            16.651298269754605
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1502.7539457136475,
+            67.08883252589798,
+            19.651298269754605
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1502.7539457136475,
+            67.08883252589798,
+            22.651298269754605
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1502.7539457136475,
+            67.08883252589798,
+            25.651298269754605
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1502.7539457136475,
+            67.08883252589798,
+            28.651298269754605
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1502.7539457136475,
+            70.08883252589798,
+            28.651298269754605
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1502.7539457136475,
+            73.08883252589798,
+            28.651298269754605
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1502.7539457136475,
+            76.08883252589798,
+            28.651298269754605
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1502.7539457136475,
+            79.08883252589798,
+            28.651298269754605
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1502.7539457136475,
+            82.08883252589798,
+            28.651298269754605
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1502.7539457136475,
+            85.08883252589798,
+            28.651298269754605
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1502.7539457136475,
+            85.08883252589798,
+            25.651298269754605
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1502.7539457136475,
+            85.08883252589798,
+            22.651298269754605
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1502.7539457136475,
+            85.08883252589798,
+            19.651298269754605
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1502.7539457136475,
+            85.08883252589798,
+            16.651298269754605
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1502.7539457136475,
+            85.08883252589798,
+            13.651298269754605
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1502.7539457136475,
+            85.08883252589798,
+            10.651298269754605
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1502.7539457136475,
+            85.08883252589798,
+            7.651298269754605
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1502.7539457136475,
+            85.08883252589798,
+            4.651298269754605
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1502.7539457136475,
+            85.08883252589798,
+            1.651298269754605
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "beige",
+        "feature": "large windows",
+        "position": [
+            1515.24406,
+            150.28972,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_20-46-26_8936987/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_20-46-26_8936987/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..39281a00237ce0639d2cf6e746acc7fc3960c6a2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_20-46-26_8936987/pose.jsonl
@@ -0,0 +1,509 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            193.493216407892,
+            1182.7071181216577,
+            2.1232779020301713
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            193.493216407892,
+            1182.7071181216577,
+            5.123277902030171
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            193.493216407892,
+            1182.7071181216577,
+            8.123277902030171
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            193.493216407892,
+            1182.7071181216577,
+            11.123277902030171
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            193.493216407892,
+            1182.7071181216577,
+            14.123277902030171
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            193.493216407892,
+            1182.7071181216577,
+            17.12327790203017
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            193.493216407892,
+            1182.7071181216577,
+            20.12327790203017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            196.493216407892,
+            1182.7071181216577,
+            20.12327790203017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            199.493216407892,
+            1182.7071181216577,
+            20.12327790203017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            202.493216407892,
+            1182.7071181216577,
+            20.12327790203017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            205.493216407892,
+            1182.7071181216577,
+            20.12327790203017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            208.493216407892,
+            1182.7071181216577,
+            20.12327790203017
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            208.493216407892,
+            1182.7071181216577,
+            20.12327790203017
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            208.493216407892,
+            1182.7071181216577,
+            20.12327790203017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            209.993216407892,
+            1180.1090419103043,
+            20.12327790203017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            211.493216407892,
+            1177.510965698951,
+            20.12327790203017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            212.993216407892,
+            1174.9128894875976,
+            20.12327790203017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            214.493216407892,
+            1172.3148132762442,
+            20.12327790203017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            215.993216407892,
+            1169.7167370648908,
+            20.12327790203017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            217.493216407892,
+            1167.1186608535374,
+            20.12327790203017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            218.993216407892,
+            1164.520584642184,
+            20.12327790203017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            220.493216407892,
+            1161.9225084308307,
+            20.12327790203017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            221.993216407892,
+            1159.3244322194773,
+            20.12327790203017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            223.493216407892,
+            1156.726356008124,
+            20.12327790203017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            224.993216407892,
+            1154.1282797967706,
+            20.12327790203017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            226.493216407892,
+            1151.5302035854172,
+            20.12327790203017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            227.993216407892,
+            1148.9321273740638,
+            20.12327790203017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            229.493216407892,
+            1146.3340511627105,
+            20.12327790203017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            230.993216407892,
+            1143.735974951357,
+            20.12327790203017
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            230.993216407892,
+            1143.735974951357,
+            20.12327790203017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            230.993216407892,
+            1140.735974951357,
+            20.12327790203017
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            230.993216407892,
+            1137.735974951357,
+            20.12327790203017
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            230.993216407892,
+            1137.735974951357,
+            17.12327790203017
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            230.993216407892,
+            1137.735974951357,
+            14.123277902030171
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            230.993216407892,
+            1137.735974951357,
+            11.123277902030171
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            230.993216407892,
+            1137.735974951357,
+            8.123277902030171
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            230.993216407892,
+            1137.735974951357,
+            5.123277902030171
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            230.993216407892,
+            1137.735974951357,
+            2.1232779020301713
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "ornate facade",
+        "position": [
+            252.03169999999997,
+            1109.10594,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "left",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_20-51-7_841148365/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_20-51-7_841148365/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5d167dda92a397bbe9bcbbb24b6eee6322131650
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_20-51-7_841148365/pose.jsonl
@@ -0,0 +1,301 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            775.502811335826,
+            1262.3505257552283,
+            2.7742480440107258
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            775.502811335826,
+            1262.3505257552283,
+            5.774248044010726
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            775.502811335826,
+            1262.3505257552283,
+            8.774248044010726
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            775.502811335826,
+            1262.3505257552283,
+            11.774248044010726
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            775.502811335826,
+            1262.3505257552283,
+            14.774248044010726
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            775.502811335826,
+            1262.3505257552283,
+            17.774248044010726
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            775.502811335826,
+            1262.3505257552283,
+            20.774248044010726
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            775.502811335826,
+            1262.3505257552283,
+            23.774248044010726
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            775.502811335826,
+            1262.3505257552283,
+            26.774248044010726
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            775.502811335826,
+            1262.3505257552283,
+            29.774248044010726
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            772.9047351244726,
+            1263.8505257552283,
+            29.774248044010726
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            770.3066589131192,
+            1265.3505257552283,
+            29.774248044010726
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            767.7085827017659,
+            1266.8505257552283,
+            29.774248044010726
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            767.7085827017659,
+            1266.8505257552283,
+            26.774248044010726
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            767.7085827017659,
+            1266.8505257552283,
+            23.774248044010726
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            767.7085827017659,
+            1266.8505257552283,
+            20.774248044010726
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            767.7085827017659,
+            1266.8505257552283,
+            17.774248044010726
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            767.7085827017659,
+            1266.8505257552283,
+            14.774248044010726
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            767.7085827017659,
+            1266.8505257552283,
+            11.774248044010726
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            767.7085827017659,
+            1266.8505257552283,
+            8.774248044010726
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            767.7085827017659,
+            1266.8505257552283,
+            5.774248044010726
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            767.7085827017659,
+            1266.8505257552283,
+            2.7742480440107258
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "glass windows",
+        "position": [
+            704.37758,
+            1304.91453,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_20-59-23_213975407/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_20-59-23_213975407/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c402b6e5e2987a7b4f8c7b8cc4670541bafd0643
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_20-59-23_213975407/pose.jsonl
@@ -0,0 +1,249 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -136.80841847068618,
+            1725.6950711914692,
+            1.7756639842884887
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -136.80841847068618,
+            1725.6950711914692,
+            4.775663984288489
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -136.80841847068618,
+            1725.6950711914692,
+            7.775663984288489
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -136.80841847068618,
+            1725.6950711914692,
+            10.775663984288489
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -136.80841847068618,
+            1725.6950711914692,
+            13.775663984288489
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -136.80841847068618,
+            1725.6950711914692,
+            16.77566398428849
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -136.80841847068618,
+            1725.6950711914692,
+            19.77566398428849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -136.80841847068618,
+            1728.6950711914692,
+            19.77566398428849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -136.80841847068618,
+            1731.6950711914692,
+            19.77566398428849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -136.80841847068618,
+            1734.6950711914692,
+            19.77566398428849
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -136.80841847068618,
+            1734.6950711914692,
+            19.77566398428849
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -138.30841847068618,
+            1737.2931474028226,
+            19.77566398428849
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -138.30841847068618,
+            1737.2931474028226,
+            16.77566398428849
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -138.30841847068618,
+            1737.2931474028226,
+            13.775663984288489
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -138.30841847068618,
+            1737.2931474028226,
+            10.775663984288489
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -138.30841847068618,
+            1737.2931474028226,
+            7.775663984288489
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -138.30841847068618,
+            1737.2931474028226,
+            4.775663984288489
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -138.30841847068618,
+            1737.2931474028226,
+            1.7756639842884887
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "arched entrance",
+        "position": [
+            -147.74762,
+            1807.5990599999998,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_21-13-50_2103318776/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_21-13-50_2103318776/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9eb56308c60460dfc9808eeef7b4318b29245c09
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_21-13-50_2103318776/pose.jsonl
@@ -0,0 +1,288 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1878.9931302867835,
+            1023.3946459159995,
+            1.795032939790289
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1878.9931302867835,
+            1023.3946459159995,
+            4.795032939790289
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1878.9931302867835,
+            1023.3946459159995,
+            7.795032939790289
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1878.9931302867835,
+            1023.3946459159995,
+            10.795032939790289
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1878.9931302867835,
+            1023.3946459159995,
+            13.795032939790289
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1878.9931302867835,
+            1023.3946459159995,
+            16.79503293979029
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1878.9931302867835,
+            1023.3946459159995,
+            19.79503293979029
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1878.9931302867835,
+            1023.3946459159995,
+            22.79503293979029
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1878.9931302867835,
+            1023.3946459159995,
+            25.79503293979029
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1878.9931302867835,
+            1023.3946459159995,
+            28.79503293979029
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1875.9931302867835,
+            1023.3946459159995,
+            28.79503293979029
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1872.9931302867835,
+            1023.3946459159995,
+            28.79503293979029
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1872.9931302867835,
+            1023.3946459159995,
+            25.79503293979029
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1872.9931302867835,
+            1023.3946459159995,
+            22.79503293979029
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1872.9931302867835,
+            1023.3946459159995,
+            19.79503293979029
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1872.9931302867835,
+            1023.3946459159995,
+            16.79503293979029
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1872.9931302867835,
+            1023.3946459159995,
+            13.795032939790289
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1872.9931302867835,
+            1023.3946459159995,
+            10.795032939790289
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1872.9931302867835,
+            1023.3946459159995,
+            7.795032939790289
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1872.9931302867835,
+            1023.3946459159995,
+            4.795032939790289
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1872.9931302867835,
+            1023.3946459159995,
+            1.795032939790289
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "ornate facade",
+        "position": [
+            1804.68734,
+            1015.1329700000001,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_21-36-29_159259470/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_21-36-29_159259470/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8ddd00271ed9d4c6b14f1b646a3c8821c818cd77
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_21-36-29_159259470/pose.jsonl
@@ -0,0 +1,314 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1511.5407402456995,
+            612.4635557731052,
+            0.2674539016565838
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1511.5407402456995,
+            612.4635557731052,
+            3.267453901656584
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1511.5407402456995,
+            612.4635557731052,
+            6.267453901656584
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1511.5407402456995,
+            612.4635557731052,
+            9.267453901656584
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1511.5407402456995,
+            612.4635557731052,
+            12.267453901656584
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1511.5407402456995,
+            612.4635557731052,
+            15.267453901656584
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1511.5407402456995,
+            612.4635557731052,
+            18.267453901656584
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1511.5407402456995,
+            612.4635557731052,
+            21.267453901656584
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1511.5407402456995,
+            612.4635557731052,
+            24.267453901656584
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1511.5407402456995,
+            612.4635557731052,
+            27.267453901656584
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1513.0407402456995,
+            615.0616319844585,
+            27.267453901656584
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1514.5407402456995,
+            617.6597081958118,
+            27.267453901656584
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1516.0407402456995,
+            620.2577844071652,
+            27.267453901656584
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1517.5407402456995,
+            622.8558606185186,
+            27.267453901656584
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1517.5407402456995,
+            622.8558606185186,
+            24.267453901656584
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1517.5407402456995,
+            622.8558606185186,
+            21.267453901656584
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1517.5407402456995,
+            622.8558606185186,
+            18.267453901656584
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1517.5407402456995,
+            622.8558606185186,
+            15.267453901656584
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1517.5407402456995,
+            622.8558606185186,
+            12.267453901656584
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1517.5407402456995,
+            622.8558606185186,
+            9.267453901656584
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1517.5407402456995,
+            622.8558606185186,
+            6.267453901656584
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1517.5407402456995,
+            622.8558606185186,
+            3.267453901656584
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1517.5407402456995,
+            622.8558606185186,
+            0.2674539016565838
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "dark",
+        "feature": "glass facade",
+        "position": [
+            1562.7478099999998,
+            677.30188,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_21-37-19_1359512183/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_21-37-19_1359512183/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8b5e0dff8938c3925d40d90b2f016572b2d20200
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_21-37-19_1359512183/pose.jsonl
@@ -0,0 +1,288 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1335.8234688080015,
+            919.1325482845812,
+            1.1739162220233759
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1335.8234688080015,
+            919.1325482845812,
+            4.173916222023376
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1335.8234688080015,
+            919.1325482845812,
+            7.173916222023376
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1335.8234688080015,
+            919.1325482845812,
+            10.173916222023376
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1335.8234688080015,
+            919.1325482845812,
+            13.173916222023376
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1335.8234688080015,
+            919.1325482845812,
+            16.173916222023376
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1335.8234688080015,
+            919.1325482845812,
+            19.173916222023376
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1335.8234688080015,
+            919.1325482845812,
+            22.173916222023376
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1337.3234688080015,
+            921.7306244959345,
+            22.173916222023376
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1338.8234688080015,
+            924.3287007072879,
+            22.173916222023376
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1340.3234688080015,
+            926.9267769186413,
+            22.173916222023376
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1340.3234688080015,
+            926.9267769186413,
+            22.173916222023376
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1342.9215450193549,
+            928.4267769186413,
+            22.173916222023376
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1345.5196212307083,
+            929.9267769186413,
+            22.173916222023376
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1345.5196212307083,
+            929.9267769186413,
+            19.173916222023376
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1345.5196212307083,
+            929.9267769186413,
+            16.173916222023376
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1345.5196212307083,
+            929.9267769186413,
+            13.173916222023376
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1345.5196212307083,
+            929.9267769186413,
+            10.173916222023376
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1345.5196212307083,
+            929.9267769186413,
+            7.173916222023376
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1345.5196212307083,
+            929.9267769186413,
+            4.173916222023376
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1345.5196212307083,
+            929.9267769186413,
+            1.1739162220233759
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "water tower on top",
+        "position": [
+            -1382.5321900000001,
+            971.6534399999999,
+            3.94586
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_21-43-9_2086206725/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_21-43-9_2086206725/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6f88cc29ae424830403e0fe1426ed3c293e43dbe
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_21-43-9_2086206725/pose.jsonl
@@ -0,0 +1,262 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -987.9408550867547,
+            1461.693420805047,
+            2.131950393414442
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -987.9408550867547,
+            1461.693420805047,
+            5.131950393414442
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -987.9408550867547,
+            1461.693420805047,
+            8.131950393414442
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -987.9408550867547,
+            1461.693420805047,
+            11.131950393414442
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -987.9408550867547,
+            1461.693420805047,
+            14.131950393414442
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -987.9408550867547,
+            1461.693420805047,
+            17.131950393414442
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -987.9408550867547,
+            1461.693420805047,
+            20.131950393414442
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -987.9408550867547,
+            1461.693420805047,
+            23.131950393414442
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -986.4408550867547,
+            1464.2914970164004,
+            23.131950393414442
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -984.9408550867547,
+            1466.8895732277538,
+            23.131950393414442
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -983.4408550867547,
+            1469.4876494391071,
+            23.131950393414442
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -981.9408550867547,
+            1472.0857256504605,
+            23.131950393414442
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -981.9408550867547,
+            1472.0857256504605,
+            20.131950393414442
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -981.9408550867547,
+            1472.0857256504605,
+            17.131950393414442
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -981.9408550867547,
+            1472.0857256504605,
+            14.131950393414442
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -981.9408550867547,
+            1472.0857256504605,
+            11.131950393414442
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -981.9408550867547,
+            1472.0857256504605,
+            8.131950393414442
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -981.9408550867547,
+            1472.0857256504605,
+            5.131950393414442
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -981.9408550867547,
+            1472.0857256504605,
+            2.131950393414442
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "beige",
+        "feature": "classical architecture with columns",
+        "position": [
+            -967.41539,
+            1527.53422,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_21-48-18_1272469786/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_21-48-18_1272469786/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b8bda9d0857aa2b8576bacfd83729fe7f259bb99
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_21-48-18_1272469786/pose.jsonl
@@ -0,0 +1,223 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -650.2149926677661,
+            1469.3235526498936,
+            0.5513963974953882
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -650.2149926677661,
+            1469.3235526498936,
+            3.551396397495388
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -650.2149926677661,
+            1469.3235526498936,
+            6.551396397495388
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -650.2149926677661,
+            1469.3235526498936,
+            9.551396397495388
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -650.2149926677661,
+            1469.3235526498936,
+            12.551396397495388
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -650.2149926677661,
+            1469.3235526498936,
+            15.551396397495388
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -650.2149926677661,
+            1469.3235526498936,
+            18.551396397495388
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -651.7149926677661,
+            1466.7254764385402,
+            18.551396397495388
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -653.2149926677661,
+            1464.1274002271869,
+            18.551396397495388
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -654.7149926677661,
+            1461.5293240158335,
+            18.551396397495388
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -654.7149926677661,
+            1461.5293240158335,
+            15.551396397495388
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -654.7149926677661,
+            1461.5293240158335,
+            12.551396397495388
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -654.7149926677661,
+            1461.5293240158335,
+            9.551396397495388
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -654.7149926677661,
+            1461.5293240158335,
+            6.551396397495388
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -654.7149926677661,
+            1461.5293240158335,
+            3.551396397495388
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -654.7149926677661,
+            1461.5293240158335,
+            0.5513963974953882
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "beige",
+        "feature": "classical architectural details",
+        "position": [
+            -703.64492,
+            1404.27828,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_21-52-23_968338082/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_21-52-23_968338082/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4742295186d3c9765eb84e077c3ea21bad7194d6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_21-52-23_968338082/pose.jsonl
@@ -0,0 +1,379 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1339.641324720464,
+            687.1750922246116,
+            2.5699752075940694
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1339.641324720464,
+            687.1750922246116,
+            5.569975207594069
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1339.641324720464,
+            687.1750922246116,
+            8.56997520759407
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1339.641324720464,
+            687.1750922246116,
+            11.56997520759407
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1339.641324720464,
+            687.1750922246116,
+            14.56997520759407
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1339.641324720464,
+            687.1750922246116,
+            17.56997520759407
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1339.641324720464,
+            687.1750922246116,
+            20.56997520759407
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1339.641324720464,
+            687.1750922246116,
+            23.56997520759407
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1341.141324720464,
+            689.7731684359649,
+            23.56997520759407
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1342.641324720464,
+            692.3712446473182,
+            23.56997520759407
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1344.141324720464,
+            694.9693208586716,
+            23.56997520759407
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1345.641324720464,
+            697.567397070025,
+            23.56997520759407
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1347.141324720464,
+            700.1654732813784,
+            23.56997520759407
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1348.641324720464,
+            702.7635494927317,
+            23.56997520759407
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1350.141324720464,
+            705.3616257040851,
+            23.56997520759407
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1351.641324720464,
+            707.9597019154385,
+            23.56997520759407
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1353.141324720464,
+            710.5577781267918,
+            23.56997520759407
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1353.141324720464,
+            710.5577781267918,
+            23.56997520759407
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1355.7394009318173,
+            712.0577781267918,
+            23.56997520759407
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1358.3374771431706,
+            713.5577781267918,
+            23.56997520759407
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1360.935553354524,
+            715.0577781267918,
+            23.56997520759407
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1360.935553354524,
+            715.0577781267918,
+            20.56997520759407
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1360.935553354524,
+            715.0577781267918,
+            17.56997520759407
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1360.935553354524,
+            715.0577781267918,
+            14.56997520759407
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1360.935553354524,
+            715.0577781267918,
+            11.56997520759407
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1360.935553354524,
+            715.0577781267918,
+            8.56997520759407
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1360.935553354524,
+            715.0577781267918,
+            5.569975207594069
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1360.935553354524,
+            715.0577781267918,
+            2.5699752075940694
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "classical architectural elements",
+        "position": [
+            1399.26281,
+            764.47938,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_21-59-13_502278611/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_21-59-13_502278611/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7c6d8ff1108dec33fd6a3d64f3c515adc794899f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_21-59-13_502278611/pose.jsonl
@@ -0,0 +1,353 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            993.3633326771321,
+            -459.46579777006946,
+            2.954507157776611
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            993.3633326771321,
+            -459.46579777006946,
+            5.954507157776611
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            993.3633326771321,
+            -459.46579777006946,
+            8.95450715777661
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            993.3633326771321,
+            -459.46579777006946,
+            11.95450715777661
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            993.3633326771321,
+            -459.46579777006946,
+            14.95450715777661
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            993.3633326771321,
+            -459.46579777006946,
+            17.95450715777661
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            993.3633326771321,
+            -459.46579777006946,
+            20.95450715777661
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            993.3633326771321,
+            -459.46579777006946,
+            23.95450715777661
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            994.8633326771321,
+            -456.86772155871614,
+            23.95450715777661
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            996.3633326771321,
+            -454.2696453473628,
+            23.95450715777661
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            997.8633326771321,
+            -451.6715691360095,
+            23.95450715777661
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            999.3633326771321,
+            -449.0734929246562,
+            23.95450715777661
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1000.8633326771321,
+            -446.4754167133029,
+            23.95450715777661
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1002.3633326771321,
+            -443.87734050194956,
+            23.95450715777661
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1003.8633326771321,
+            -441.27926429059625,
+            23.95450715777661
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1003.8633326771321,
+            -441.27926429059625,
+            23.95450715777661
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1006.4614088884855,
+            -439.77926429059625,
+            23.95450715777661
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1009.0594850998389,
+            -438.27926429059625,
+            23.95450715777661
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1011.6575613111922,
+            -436.77926429059625,
+            23.95450715777661
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1011.6575613111922,
+            -436.77926429059625,
+            20.95450715777661
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1011.6575613111922,
+            -436.77926429059625,
+            17.95450715777661
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1011.6575613111922,
+            -436.77926429059625,
+            14.95450715777661
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1011.6575613111922,
+            -436.77926429059625,
+            11.95450715777661
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1011.6575613111922,
+            -436.77926429059625,
+            8.95450715777661
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1011.6575613111922,
+            -436.77926429059625,
+            5.954507157776611
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1011.6575613111922,
+            -436.77926429059625,
+            2.954507157776611
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "grid-like facade",
+        "position": [
+            1036.43031,
+            -406.27008,
+            0.0
+        ],
+        "shape": "cuboid",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_22-11-22_1447267605/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_22-11-22_1447267605/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5aa41115f535b1ba5cd70b0080a918c0091d0b11
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_22-11-22_1447267605/pose.jsonl
@@ -0,0 +1,158 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1320.6097875395085,
+            1738.7624748846458,
+            2.744899253722531
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1320.6097875395085,
+            1738.7624748846458,
+            5.744899253722531
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1320.6097875395085,
+            1738.7624748846458,
+            8.744899253722531
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1320.6097875395085,
+            1738.7624748846458,
+            11.744899253722531
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1322.1097875395085,
+            1736.1643986732925,
+            11.744899253722531
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1323.6097875395085,
+            1733.566322461939,
+            11.744899253722531
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1325.1097875395085,
+            1730.9682462505857,
+            11.744899253722531
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1326.6097875395085,
+            1728.3701700392323,
+            11.744899253722531
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1326.6097875395085,
+            1728.3701700392323,
+            8.744899253722531
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1326.6097875395085,
+            1728.3701700392323,
+            5.744899253722531
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1326.6097875395085,
+            1728.3701700392323,
+            2.744899253722531
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "dark",
+        "feature": "grid-like facade",
+        "position": [
+            1365.8895300000001,
+            1680.5134400000002,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_22-27-14_188213258/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_22-27-14_188213258/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..31f226aea6d2b8fcf56ff057f0b0e6102a032c07
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_22-27-14_188213258/pose.jsonl
@@ -0,0 +1,223 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1471.83650674428,
+            -468.5303765255618,
+            0.3579085773903472
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1471.83650674428,
+            -468.5303765255618,
+            3.357908577390347
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1471.83650674428,
+            -468.5303765255618,
+            6.357908577390347
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1471.83650674428,
+            -468.5303765255618,
+            9.357908577390347
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1471.83650674428,
+            -468.5303765255618,
+            12.357908577390347
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1471.83650674428,
+            -465.5303765255618,
+            12.357908577390347
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1471.83650674428,
+            -462.5303765255618,
+            12.357908577390347
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1471.83650674428,
+            -459.5303765255618,
+            12.357908577390347
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1471.83650674428,
+            -456.5303765255618,
+            12.357908577390347
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1471.83650674428,
+            -453.5303765255618,
+            12.357908577390347
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1471.83650674428,
+            -453.5303765255618,
+            12.357908577390347
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1470.33650674428,
+            -450.9323003142085,
+            12.357908577390347
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1470.33650674428,
+            -450.9323003142085,
+            9.357908577390347
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1470.33650674428,
+            -450.9323003142085,
+            6.357908577390347
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1470.33650674428,
+            -450.9323003142085,
+            3.357908577390347
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1470.33650674428,
+            -450.9323003142085,
+            0.3579085773903472
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "dark",
+        "feature": "grid-like facade",
+        "position": [
+            1460.38375,
+            -374.03551,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_22-27-53_559412924/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_22-27-53_559412924/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b5c04185388704914a838b2141a2a133462ca45b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_22-27-53_559412924/pose.jsonl
@@ -0,0 +1,210 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1646.4645232941766,
+            890.7554884139104,
+            1.5597029816177717
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1646.4645232941766,
+            890.7554884139104,
+            4.559702981617772
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1646.4645232941766,
+            890.7554884139104,
+            7.559702981617772
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1646.4645232941766,
+            890.7554884139104,
+            10.559702981617772
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1646.4645232941766,
+            890.7554884139104,
+            13.559702981617772
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1649.06259950553,
+            889.2554884139104,
+            13.559702981617772
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1651.6606757168834,
+            887.7554884139104,
+            13.559702981617772
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1654.2587519282367,
+            886.2554884139104,
+            13.559702981617772
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1656.85682813959,
+            884.7554884139104,
+            13.559702981617772
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1659.4549043509435,
+            883.2554884139104,
+            13.559702981617772
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1662.0529805622969,
+            881.7554884139104,
+            13.559702981617772
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1662.0529805622969,
+            881.7554884139104,
+            10.559702981617772
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1662.0529805622969,
+            881.7554884139104,
+            7.559702981617772
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1662.0529805622969,
+            881.7554884139104,
+            4.559702981617772
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1662.0529805622969,
+            881.7554884139104,
+            1.5597029816177717
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "glass windows",
+        "position": [
+            -1698.6615599999998,
+            859.26609,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_22-30-12_201305624/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_22-30-12_201305624/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d6d80291abbbef99d5d621578e04c6a8960cb301
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_22-30-12_201305624/pose.jsonl
@@ -0,0 +1,236 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1668.8589850539865,
+            442.7794454858004,
+            1.5231023236262917
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1668.8589850539865,
+            442.7794454858004,
+            4.523102323626292
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1668.8589850539865,
+            442.7794454858004,
+            7.523102323626292
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1668.8589850539865,
+            442.7794454858004,
+            10.523102323626292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1671.8589850539865,
+            442.7794454858004,
+            10.523102323626292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1674.8589850539865,
+            442.7794454858004,
+            10.523102323626292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1677.8589850539865,
+            442.7794454858004,
+            10.523102323626292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1680.8589850539865,
+            442.7794454858004,
+            10.523102323626292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1683.8589850539865,
+            442.7794454858004,
+            10.523102323626292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1686.8589850539865,
+            442.7794454858004,
+            10.523102323626292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1689.8589850539865,
+            442.7794454858004,
+            10.523102323626292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1692.8589850539865,
+            442.7794454858004,
+            10.523102323626292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1695.8589850539865,
+            442.7794454858004,
+            10.523102323626292
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1698.8589850539865,
+            442.7794454858004,
+            10.523102323626292
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1698.8589850539865,
+            442.7794454858004,
+            7.523102323626292
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1698.8589850539865,
+            442.7794454858004,
+            4.523102323626292
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1698.8589850539865,
+            442.7794454858004,
+            1.5231023236262917
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "dark",
+        "feature": "grid-like facade",
+        "position": [
+            1756.33172,
+            442.84734,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_22-30-56_238962600/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_22-30-56_238962600/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1fc5d2b9fe7d9a615df5252e886534203f66addb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_22-30-56_238962600/pose.jsonl
@@ -0,0 +1,301 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1425.565478968329,
+            561.2569248286397,
+            2.2761555554533075
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1425.565478968329,
+            561.2569248286397,
+            5.2761555554533075
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1425.565478968329,
+            561.2569248286397,
+            8.276155555453307
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1425.565478968329,
+            561.2569248286397,
+            11.276155555453307
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1425.565478968329,
+            561.2569248286397,
+            14.276155555453307
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1425.565478968329,
+            561.2569248286397,
+            17.276155555453307
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1425.565478968329,
+            561.2569248286397,
+            20.276155555453307
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1424.065478968329,
+            563.8550010399931,
+            20.276155555453307
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1422.565478968329,
+            566.4530772513465,
+            20.276155555453307
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1421.065478968329,
+            569.0511534626999,
+            20.276155555453307
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1419.565478968329,
+            571.6492296740532,
+            20.276155555453307
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1418.065478968329,
+            574.2473058854066,
+            20.276155555453307
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1416.565478968329,
+            576.84538209676,
+            20.276155555453307
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1415.065478968329,
+            579.4434583081133,
+            20.276155555453307
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1415.065478968329,
+            579.4434583081133,
+            20.276155555453307
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1412.4674027569756,
+            580.9434583081133,
+            20.276155555453307
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1412.4674027569756,
+            580.9434583081133,
+            17.276155555453307
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1412.4674027569756,
+            580.9434583081133,
+            14.276155555453307
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1412.4674027569756,
+            580.9434583081133,
+            11.276155555453307
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1412.4674027569756,
+            580.9434583081133,
+            8.276155555453307
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1412.4674027569756,
+            580.9434583081133,
+            5.2761555554533075
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1412.4674027569756,
+            580.9434583081133,
+            2.2761555554533075
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "many windows",
+        "position": [
+            -1386.3953099999999,
+            615.96742,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_22-34-33_620145550/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_22-34-33_620145550/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8bc3f8452c3a4ca518a31d16518a8578ec258610
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_22-34-33_620145550/pose.jsonl
@@ -0,0 +1,340 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1363.9783965353574,
+            691.5799116802343,
+            2.4340365748636508
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1363.9783965353574,
+            691.5799116802343,
+            5.434036574863651
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1363.9783965353574,
+            691.5799116802343,
+            8.43403657486365
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1363.9783965353574,
+            691.5799116802343,
+            11.43403657486365
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1363.9783965353574,
+            691.5799116802343,
+            14.43403657486365
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1363.9783965353574,
+            691.5799116802343,
+            17.43403657486365
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1363.9783965353574,
+            691.5799116802343,
+            20.43403657486365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1361.380320324004,
+            693.0799116802343,
+            20.43403657486365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1358.7822441126507,
+            694.5799116802343,
+            20.43403657486365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1356.1841679012973,
+            696.0799116802343,
+            20.43403657486365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1353.586091689944,
+            697.5799116802343,
+            20.43403657486365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1350.9880154785906,
+            699.0799116802343,
+            20.43403657486365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1348.3899392672372,
+            700.5799116802343,
+            20.43403657486365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1345.7918630558838,
+            702.0799116802343,
+            20.43403657486365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1343.1937868445305,
+            703.5799116802343,
+            20.43403657486365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1340.595710633177,
+            705.0799116802343,
+            20.43403657486365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1337.9976344218237,
+            706.5799116802343,
+            20.43403657486365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1335.3995582104703,
+            708.0799116802343,
+            20.43403657486365
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1332.801481999117,
+            709.5799116802343,
+            20.43403657486365
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1332.801481999117,
+            709.5799116802343,
+            17.43403657486365
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1332.801481999117,
+            709.5799116802343,
+            14.43403657486365
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1332.801481999117,
+            709.5799116802343,
+            11.43403657486365
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1332.801481999117,
+            709.5799116802343,
+            8.43403657486365
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1332.801481999117,
+            709.5799116802343,
+            5.434036574863651
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1332.801481999117,
+            709.5799116802343,
+            2.4340365748636508
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "ornate facade",
+        "position": [
+            1305.8857799999998,
+            721.8357000000001,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_22-44-12_937370163/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_22-44-12_937370163/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..492cc0cb12102a5ee860b2300f8a8bcbb961ca19
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_22-44-12_937370163/pose.jsonl
@@ -0,0 +1,314 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            629.2779380024057,
+            1668.8631500455879,
+            2.7031268548495717
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            629.2779380024057,
+            1668.8631500455879,
+            5.703126854849572
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            629.2779380024057,
+            1668.8631500455879,
+            8.703126854849572
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            629.2779380024057,
+            1668.8631500455879,
+            11.703126854849572
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            629.2779380024057,
+            1668.8631500455879,
+            14.703126854849572
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            629.2779380024057,
+            1668.8631500455879,
+            17.70312685484957
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            629.2779380024057,
+            1668.8631500455879,
+            20.70312685484957
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            629.2779380024057,
+            1668.8631500455879,
+            23.70312685484957
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            629.2779380024057,
+            1668.8631500455879,
+            26.70312685484957
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            629.2779380024057,
+            1668.8631500455879,
+            29.70312685484957
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            631.8760142137589,
+            1670.3631500455879,
+            29.70312685484957
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            634.4740904251123,
+            1671.8631500455879,
+            29.70312685484957
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            637.0721666364657,
+            1673.3631500455879,
+            29.70312685484957
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            639.670242847819,
+            1674.8631500455879,
+            29.70312685484957
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            639.670242847819,
+            1674.8631500455879,
+            26.70312685484957
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            639.670242847819,
+            1674.8631500455879,
+            23.70312685484957
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            639.670242847819,
+            1674.8631500455879,
+            20.70312685484957
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            639.670242847819,
+            1674.8631500455879,
+            17.70312685484957
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            639.670242847819,
+            1674.8631500455879,
+            14.703126854849572
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            639.670242847819,
+            1674.8631500455879,
+            11.703126854849572
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            639.670242847819,
+            1674.8631500455879,
+            8.703126854849572
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            639.670242847819,
+            1674.8631500455879,
+            5.703126854849572
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            639.670242847819,
+            1674.8631500455879,
+            2.7031268548495717
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "dark",
+        "feature": "glass windows",
+        "position": [
+            680.6825,
+            1717.22359,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_22-45-5_2058657199/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_22-45-5_2058657199/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..53ef9139278287b73eff0480034bbf66e41d4fac
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_22-45-5_2058657199/pose.jsonl
@@ -0,0 +1,288 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1493.5519467353147,
+            -428.50706391525347,
+            1.4976669303608077
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1493.5519467353147,
+            -428.50706391525347,
+            4.497666930360808
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1493.5519467353147,
+            -428.50706391525347,
+            7.497666930360808
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1493.5519467353147,
+            -428.50706391525347,
+            10.497666930360808
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1493.5519467353147,
+            -428.50706391525347,
+            13.497666930360808
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1493.5519467353147,
+            -428.50706391525347,
+            16.497666930360808
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1493.5519467353147,
+            -428.50706391525347,
+            19.497666930360808
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1492.0519467353147,
+            -425.90898770390015,
+            19.497666930360808
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1490.5519467353147,
+            -423.31091149254684,
+            19.497666930360808
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1489.0519467353147,
+            -420.7128352811935,
+            19.497666930360808
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1487.5519467353147,
+            -418.1147590698402,
+            19.497666930360808
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1486.0519467353147,
+            -415.5166828584869,
+            19.497666930360808
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1484.5519467353147,
+            -412.9186066471336,
+            19.497666930360808
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1483.0519467353147,
+            -410.32053043578026,
+            19.497666930360808
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1481.5519467353147,
+            -407.72245422442694,
+            19.497666930360808
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1481.5519467353147,
+            -407.72245422442694,
+            16.497666930360808
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1481.5519467353147,
+            -407.72245422442694,
+            13.497666930360808
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1481.5519467353147,
+            -407.72245422442694,
+            10.497666930360808
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1481.5519467353147,
+            -407.72245422442694,
+            7.497666930360808
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1481.5519467353147,
+            -407.72245422442694,
+            4.497666930360808
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1481.5519467353147,
+            -407.72245422442694,
+            1.4976669303608077
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "dark",
+        "feature": "grid-like facade",
+        "position": [
+            1460.38375,
+            -374.03551,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_22-56-26_1176911340/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_22-56-26_1176911340/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..14fff68ac5ff9d674244316315bddc5b348f658b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_22-56-26_1176911340/pose.jsonl
@@ -0,0 +1,236 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            635.8841362703884,
+            1554.4170828809124,
+            1.2064846395752724
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            635.8841362703884,
+            1554.4170828809124,
+            4.206484639575272
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            635.8841362703884,
+            1554.4170828809124,
+            7.206484639575272
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            635.8841362703884,
+            1554.4170828809124,
+            10.206484639575272
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            635.8841362703884,
+            1554.4170828809124,
+            13.206484639575272
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            635.8841362703884,
+            1554.4170828809124,
+            16.206484639575272
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            635.8841362703884,
+            1554.4170828809124,
+            19.206484639575272
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            635.8841362703884,
+            1554.4170828809124,
+            22.206484639575272
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            638.4822124817417,
+            1552.9170828809124,
+            22.206484639575272
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            641.0802886930951,
+            1551.4170828809124,
+            22.206484639575272
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            641.0802886930951,
+            1551.4170828809124,
+            19.206484639575272
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            641.0802886930951,
+            1551.4170828809124,
+            16.206484639575272
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            641.0802886930951,
+            1551.4170828809124,
+            13.206484639575272
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            641.0802886930951,
+            1551.4170828809124,
+            10.206484639575272
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            641.0802886930951,
+            1551.4170828809124,
+            7.206484639575272
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            641.0802886930951,
+            1551.4170828809124,
+            4.206484639575272
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            641.0802886930951,
+            1551.4170828809124,
+            1.2064846395752724
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "arched windows",
+        "position": [
+            692.4675,
+            1489.1948399999999,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_22-57-41_1943327684/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_22-57-41_1943327684/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2b0a9dfd371d88230a1010f2a69457be806e96a6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_22-57-41_1943327684/pose.jsonl
@@ -0,0 +1,145 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -560.4078442321327,
+            1184.341409198417,
+            0.7053532998930798
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -560.4078442321327,
+            1184.341409198417,
+            3.70535329989308
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -560.4078442321327,
+            1184.341409198417,
+            6.70535329989308
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -560.4078442321327,
+            1184.341409198417,
+            9.70535329989308
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -558.9078442321327,
+            1186.9394854097704,
+            9.70535329989308
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -557.4078442321327,
+            1189.5375616211238,
+            9.70535329989308
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -555.9078442321327,
+            1192.1356378324772,
+            9.70535329989308
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -555.9078442321327,
+            1192.1356378324772,
+            6.70535329989308
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -555.9078442321327,
+            1192.1356378324772,
+            3.70535329989308
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -555.9078442321327,
+            1192.1356378324772,
+            0.7053532998930798
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "arched windows",
+        "position": [
+            -517.98949,
+            1258.1493799999998,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_22-58-7_1953443376/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_22-58-7_1953443376/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..38254e23fd326bb2e8d3065081a96c6706ec95c5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_22-58-7_1953443376/pose.jsonl
@@ -0,0 +1,262 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1692.8785236113847,
+            47.200263059737956,
+            2.1733924313251833
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1692.8785236113847,
+            47.200263059737956,
+            5.173392431325183
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1692.8785236113847,
+            47.200263059737956,
+            8.173392431325183
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1692.8785236113847,
+            47.200263059737956,
+            11.173392431325183
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1692.8785236113847,
+            47.200263059737956,
+            14.173392431325183
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1692.8785236113847,
+            47.200263059737956,
+            17.173392431325183
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1692.8785236113847,
+            47.200263059737956,
+            20.173392431325183
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1692.8785236113847,
+            47.200263059737956,
+            23.173392431325183
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1689.8785236113847,
+            47.200263059737956,
+            23.173392431325183
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1686.8785236113847,
+            47.200263059737956,
+            23.173392431325183
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1683.8785236113847,
+            47.200263059737956,
+            23.173392431325183
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1680.8785236113847,
+            47.200263059737956,
+            23.173392431325183
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1680.8785236113847,
+            47.200263059737956,
+            20.173392431325183
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1680.8785236113847,
+            47.200263059737956,
+            17.173392431325183
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1680.8785236113847,
+            47.200263059737956,
+            14.173392431325183
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1680.8785236113847,
+            47.200263059737956,
+            11.173392431325183
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1680.8785236113847,
+            47.200263059737956,
+            8.173392431325183
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1680.8785236113847,
+            47.200263059737956,
+            5.173392431325183
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1680.8785236113847,
+            47.200263059737956,
+            2.1733924313251833
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "dark",
+        "feature": "glass facade",
+        "position": [
+            1628.56312,
+            55.8331,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_23-2-52_588219756/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_23-2-52_588219756/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..28a9bf0ce65a4eab0c648681067d0dd7ae93bbe9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_23-2-52_588219756/pose.jsonl
@@ -0,0 +1,210 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1116.6397292155243,
+            1184.4917449300851,
+            1.9295204045372998
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1116.6397292155243,
+            1184.4917449300851,
+            4.9295204045373
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1116.6397292155243,
+            1184.4917449300851,
+            7.9295204045373
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1116.6397292155243,
+            1184.4917449300851,
+            10.9295204045373
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1119.2378054268777,
+            1185.9917449300851,
+            10.9295204045373
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1121.835881638231,
+            1187.4917449300851,
+            10.9295204045373
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1124.4339578495844,
+            1188.9917449300851,
+            10.9295204045373
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1124.4339578495844,
+            1188.9917449300851,
+            10.9295204045373
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1127.4339578495844,
+            1188.9917449300851,
+            10.9295204045373
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1130.4339578495844,
+            1188.9917449300851,
+            10.9295204045373
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1133.4339578495844,
+            1188.9917449300851,
+            10.9295204045373
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1136.4339578495844,
+            1188.9917449300851,
+            10.9295204045373
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1136.4339578495844,
+            1188.9917449300851,
+            7.9295204045373
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1136.4339578495844,
+            1188.9917449300851,
+            4.9295204045373
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1136.4339578495844,
+            1188.9917449300851,
+            1.9295204045372998
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "ornate facade",
+        "position": [
+            -1201.09156,
+            1208.04781,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_23-26-38_296864819/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_23-26-38_296864819/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e40832f8c125db382f4ffb115265b3614f0d4520
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_23-26-38_296864819/pose.jsonl
@@ -0,0 +1,197 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1801.73671674063,
+            1190.5420350952795,
+            2.8827727072476392
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1801.73671674063,
+            1190.5420350952795,
+            5.882772707247639
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1801.73671674063,
+            1190.5420350952795,
+            8.88277270724764
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1801.73671674063,
+            1190.5420350952795,
+            11.88277270724764
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1801.73671674063,
+            1190.5420350952795,
+            14.88277270724764
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1801.73671674063,
+            1190.5420350952795,
+            17.88277270724764
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1803.23671674063,
+            1187.9439588839261,
+            17.88277270724764
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1804.73671674063,
+            1185.3458826725728,
+            17.88277270724764
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1806.23671674063,
+            1182.7478064612194,
+            17.88277270724764
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1806.23671674063,
+            1182.7478064612194,
+            14.88277270724764
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1806.23671674063,
+            1182.7478064612194,
+            11.88277270724764
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1806.23671674063,
+            1182.7478064612194,
+            8.88277270724764
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1806.23671674063,
+            1182.7478064612194,
+            5.882772707247639
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1806.23671674063,
+            1182.7478064612194,
+            2.8827727072476392
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "tapered top",
+        "position": [
+            -1828.83781,
+            1112.69289,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_23-36-20_846811127/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_23-36-20_846811127/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..544228380b2179195cec47bf43799c90b8c24b72
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_23-36-20_846811127/pose.jsonl
@@ -0,0 +1,262 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1000.6576580773024,
+            265.81496023685315,
+            0.8859703622729356
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1000.6576580773024,
+            265.81496023685315,
+            3.8859703622729356
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1000.6576580773024,
+            265.81496023685315,
+            6.885970362272936
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1000.6576580773024,
+            265.81496023685315,
+            9.885970362272936
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1000.6576580773024,
+            265.81496023685315,
+            12.885970362272936
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1000.6576580773024,
+            265.81496023685315,
+            15.885970362272936
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            998.059581865949,
+            264.31496023685315,
+            15.885970362272936
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            995.4615056545956,
+            262.81496023685315,
+            15.885970362272936
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            992.8634294432422,
+            261.31496023685315,
+            15.885970362272936
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            990.2653532318889,
+            259.81496023685315,
+            15.885970362272936
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            987.6672770205355,
+            258.31496023685315,
+            15.885970362272936
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            985.0692008091821,
+            256.81496023685315,
+            15.885970362272936
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            982.4711245978287,
+            255.31496023685315,
+            15.885970362272936
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            979.8730483864754,
+            253.81496023685315,
+            15.885970362272936
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            979.8730483864754,
+            253.81496023685315,
+            12.885970362272936
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            979.8730483864754,
+            253.81496023685315,
+            9.885970362272936
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            979.8730483864754,
+            253.81496023685315,
+            6.885970362272936
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            979.8730483864754,
+            253.81496023685315,
+            3.8859703622729356
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            979.8730483864754,
+            253.81496023685315,
+            0.8859703622729356
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "many windows",
+        "position": [
+            945.4126600000001,
+            232.92223,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_23-4-9_1057418418/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_23-4-9_1057418418/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..752cb2a02f5663235a9f7196867f97fad4336bb3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_23-4-9_1057418418/pose.jsonl
@@ -0,0 +1,522 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -532.8144700524208,
+            1180.6194487423745,
+            0.10176560329106721
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -532.8144700524208,
+            1180.6194487423745,
+            3.101765603291067
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -532.8144700524208,
+            1180.6194487423745,
+            6.101765603291067
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -532.8144700524208,
+            1180.6194487423745,
+            9.101765603291067
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -532.8144700524208,
+            1180.6194487423745,
+            12.101765603291067
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -532.8144700524208,
+            1180.6194487423745,
+            15.101765603291067
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -530.2163938410674,
+            1179.1194487423745,
+            15.101765603291067
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -527.618317629714,
+            1177.6194487423745,
+            15.101765603291067
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -525.0202414183607,
+            1176.1194487423745,
+            15.101765603291067
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -522.4221652070073,
+            1174.6194487423745,
+            15.101765603291067
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -519.8240889956539,
+            1173.1194487423745,
+            15.101765603291067
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -517.2260127843006,
+            1171.6194487423745,
+            15.101765603291067
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -517.2260127843006,
+            1171.6194487423745,
+            15.101765603291067
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 9.43689570931383e-15
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -514.2260127843006,
+            1171.6194487423745,
+            15.101765603291067
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -511.22601278430056,
+            1171.6194487423745,
+            15.101765603291067
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -511.22601278430056,
+            1171.6194487423745,
+            15.101765603291067
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -508.62793657294725,
+            1170.1194487423745,
+            15.101765603291067
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -508.62793657294725,
+            1170.1194487423745,
+            15.101765603291067
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -507.12793657294725,
+            1167.5213725310211,
+            15.101765603291067
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -505.62793657294725,
+            1164.9232963196678,
+            15.101765603291067
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -504.12793657294725,
+            1162.3252201083144,
+            15.101765603291067
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -502.62793657294725,
+            1159.727143896961,
+            15.101765603291067
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -501.12793657294725,
+            1157.1290676856077,
+            15.101765603291067
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -499.62793657294725,
+            1154.5309914742543,
+            15.101765603291067
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -498.12793657294725,
+            1151.932915262901,
+            15.101765603291067
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -498.12793657294725,
+            1151.932915262901,
+            15.101765603291067
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -498.12793657294725,
+            1148.932915262901,
+            15.101765603291067
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -498.12793657294725,
+            1145.932915262901,
+            15.101765603291067
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -498.12793657294725,
+            1142.932915262901,
+            15.101765603291067
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -498.12793657294725,
+            1139.932915262901,
+            15.101765603291067
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -498.12793657294725,
+            1136.932915262901,
+            15.101765603291067
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -498.12793657294725,
+            1133.932915262901,
+            15.101765603291067
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -498.12793657294725,
+            1130.932915262901,
+            15.101765603291067
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -498.12793657294725,
+            1127.932915262901,
+            15.101765603291067
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -498.12793657294725,
+            1127.932915262901,
+            12.101765603291067
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -498.12793657294725,
+            1127.932915262901,
+            9.101765603291067
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -498.12793657294725,
+            1127.932915262901,
+            6.101765603291067
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -498.12793657294725,
+            1127.932915262901,
+            3.101765603291067
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -498.12793657294725,
+            1127.932915262901,
+            0.10176560329106721
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "arched windows",
+        "position": [
+            -482.30066,
+            1099.50242,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "left",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_23-40-12_555996658/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_23-40-12_555996658/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0bca92bf65530cd8f555a623c9878197c66fc8af
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_23-40-12_555996658/pose.jsonl
@@ -0,0 +1,418 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            916.4972708241894,
+            1432.3956760733754,
+            1.5318246427360762
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            916.4972708241894,
+            1432.3956760733754,
+            4.531824642736076
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            916.4972708241894,
+            1432.3956760733754,
+            7.531824642736076
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            916.4972708241894,
+            1432.3956760733754,
+            10.531824642736076
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            916.4972708241894,
+            1432.3956760733754,
+            13.531824642736076
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            916.4972708241894,
+            1432.3956760733754,
+            16.531824642736076
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            916.4972708241894,
+            1432.3956760733754,
+            19.531824642736076
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            916.4972708241894,
+            1432.3956760733754,
+            22.531824642736076
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            916.4972708241894,
+            1432.3956760733754,
+            25.531824642736076
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            916.4972708241894,
+            1432.3956760733754,
+            28.531824642736076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            916.4972708241894,
+            1435.3956760733754,
+            28.531824642736076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            916.4972708241894,
+            1438.3956760733754,
+            28.531824642736076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            916.4972708241894,
+            1441.3956760733754,
+            28.531824642736076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            916.4972708241894,
+            1444.3956760733754,
+            28.531824642736076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            916.4972708241894,
+            1447.3956760733754,
+            28.531824642736076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            916.4972708241894,
+            1450.3956760733754,
+            28.531824642736076
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            916.4972708241894,
+            1450.3956760733754,
+            28.531824642736076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            917.9972708241894,
+            1452.9937522847288,
+            28.531824642736076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            919.4972708241894,
+            1455.5918284960821,
+            28.531824642736076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            920.9972708241894,
+            1458.1899047074355,
+            28.531824642736076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            922.4972708241894,
+            1460.787980918789,
+            28.531824642736076
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            923.9972708241894,
+            1463.3860571301423,
+            28.531824642736076
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            923.9972708241894,
+            1463.3860571301423,
+            25.531824642736076
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            923.9972708241894,
+            1463.3860571301423,
+            22.531824642736076
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            923.9972708241894,
+            1463.3860571301423,
+            19.531824642736076
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            923.9972708241894,
+            1463.3860571301423,
+            16.531824642736076
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            923.9972708241894,
+            1463.3860571301423,
+            13.531824642736076
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            923.9972708241894,
+            1463.3860571301423,
+            10.531824642736076
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            923.9972708241894,
+            1463.3860571301423,
+            7.531824642736076
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            923.9972708241894,
+            1463.3860571301423,
+            4.531824642736076
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            923.9972708241894,
+            1463.3860571301423,
+            1.5318246427360762
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "arched windows",
+        "position": [
+            937.89219,
+            1513.0256200000001,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_23-45-29_780821396/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_23-45-29_780821396/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c866e3bc41387f998bfe2342c7c51eb119724654
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_23-45-29_780821396/pose.jsonl
@@ -0,0 +1,249 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            403.9654240681398,
+            1181.045809485237,
+            0.7993151123390714
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            403.9654240681398,
+            1181.045809485237,
+            3.7993151123390714
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            403.9654240681398,
+            1181.045809485237,
+            6.799315112339071
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            403.9654240681398,
+            1181.045809485237,
+            9.799315112339071
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            403.9654240681398,
+            1181.045809485237,
+            12.799315112339071
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            403.9654240681398,
+            1181.045809485237,
+            15.799315112339071
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            401.36734785678647,
+            1179.545809485237,
+            15.799315112339071
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            398.76927164543315,
+            1178.045809485237,
+            15.799315112339071
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            396.17119543407983,
+            1176.545809485237,
+            15.799315112339071
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            393.5731192227265,
+            1175.045809485237,
+            15.799315112339071
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            393.5731192227265,
+            1175.045809485237,
+            15.799315112339071
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            390.5731192227265,
+            1175.045809485237,
+            15.799315112339071
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            387.5731192227265,
+            1175.045809485237,
+            15.799315112339071
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            387.5731192227265,
+            1175.045809485237,
+            12.799315112339071
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            387.5731192227265,
+            1175.045809485237,
+            9.799315112339071
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            387.5731192227265,
+            1175.045809485237,
+            6.799315112339071
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            387.5731192227265,
+            1175.045809485237,
+            3.7993151123390714
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            387.5731192227265,
+            1175.045809485237,
+            0.7993151123390714
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "dark",
+        "feature": "glass facade",
+        "position": [
+            340.13984,
+            1162.55727,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_23-49-42_2006811972/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_23-49-42_2006811972/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cf3e547d575ec46afd7fca7d6b6da247221158ee
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-14_23-49-42_2006811972/pose.jsonl
@@ -0,0 +1,184 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -879.2594207573862,
+            1496.825110860345,
+            0.48029368267178896
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -879.2594207573862,
+            1496.825110860345,
+            3.480293682671789
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -879.2594207573862,
+            1496.825110860345,
+            6.480293682671789
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -879.2594207573862,
+            1496.825110860345,
+            9.480293682671789
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -879.2594207573862,
+            1496.825110860345,
+            12.480293682671789
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -879.2594207573862,
+            1496.825110860345,
+            15.480293682671789
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -877.7594207573862,
+            1494.2270346489915,
+            15.480293682671789
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -876.2594207573862,
+            1491.6289584376382,
+            15.480293682671789
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -876.2594207573862,
+            1491.6289584376382,
+            12.480293682671789
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -876.2594207573862,
+            1491.6289584376382,
+            9.480293682671789
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -876.2594207573862,
+            1491.6289584376382,
+            6.480293682671789
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -876.2594207573862,
+            1491.6289584376382,
+            3.480293682671789
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -876.2594207573862,
+            1491.6289584376382,
+            0.48029368267178896
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "classical architecture with columns",
+        "position": [
+            -833.66984,
+            1423.88766,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_0-1-49_1197352298/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_0-1-49_1197352298/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3694f8f5efed0a6fa6827769022c5663ebee02a3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_0-1-49_1197352298/pose.jsonl
@@ -0,0 +1,314 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1878.499309330162,
+            1437.8760119262088,
+            1.799330067840895
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1878.499309330162,
+            1437.8760119262088,
+            4.799330067840895
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1878.499309330162,
+            1437.8760119262088,
+            7.799330067840895
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1878.499309330162,
+            1437.8760119262088,
+            10.799330067840895
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1878.499309330162,
+            1437.8760119262088,
+            13.799330067840895
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1878.499309330162,
+            1437.8760119262088,
+            16.799330067840895
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1878.499309330162,
+            1437.8760119262088,
+            19.799330067840895
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1878.499309330162,
+            1437.8760119262088,
+            22.799330067840895
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1878.499309330162,
+            1437.8760119262088,
+            25.799330067840895
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1878.499309330162,
+            1437.8760119262088,
+            28.799330067840895
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1875.499309330162,
+            1437.8760119262088,
+            28.799330067840895
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1872.499309330162,
+            1437.8760119262088,
+            28.799330067840895
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1869.499309330162,
+            1437.8760119262088,
+            28.799330067840895
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1866.499309330162,
+            1437.8760119262088,
+            28.799330067840895
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1866.499309330162,
+            1437.8760119262088,
+            25.799330067840895
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1866.499309330162,
+            1437.8760119262088,
+            22.799330067840895
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1866.499309330162,
+            1437.8760119262088,
+            19.799330067840895
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1866.499309330162,
+            1437.8760119262088,
+            16.799330067840895
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1866.499309330162,
+            1437.8760119262088,
+            13.799330067840895
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1866.499309330162,
+            1437.8760119262088,
+            10.799330067840895
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1866.499309330162,
+            1437.8760119262088,
+            7.799330067840895
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1866.499309330162,
+            1437.8760119262088,
+            4.799330067840895
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1866.499309330162,
+            1437.8760119262088,
+            1.799330067840895
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "beige",
+        "feature": "elevated structure with large overhang",
+        "position": [
+            1781.8015599999999,
+            1440.86859,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_0-12-20_2114937732/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_0-12-20_2114937732/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..45a711839993262a397895aec1b9f2f2900e759a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_0-12-20_2114937732/pose.jsonl
@@ -0,0 +1,184 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1052.4419624568238,
+            1567.0299934682346,
+            1.1255059105541356
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1052.4419624568238,
+            1567.0299934682346,
+            4.125505910554136
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1052.4419624568238,
+            1567.0299934682346,
+            7.125505910554136
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1052.4419624568238,
+            1567.0299934682346,
+            10.125505910554136
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1052.4419624568238,
+            1567.0299934682346,
+            13.125505910554136
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1052.4419624568238,
+            1567.0299934682346,
+            16.125505910554136
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1053.9419624568238,
+            1564.4319172568812,
+            16.125505910554136
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1055.4419624568238,
+            1561.8338410455278,
+            16.125505910554136
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1055.4419624568238,
+            1561.8338410455278,
+            13.125505910554136
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1055.4419624568238,
+            1561.8338410455278,
+            10.125505910554136
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1055.4419624568238,
+            1561.8338410455278,
+            7.125505910554136
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1055.4419624568238,
+            1561.8338410455278,
+            4.125505910554136
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1055.4419624568238,
+            1561.8338410455278,
+            1.1255059105541356
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "Red",
+        "feature": "Arched entrance",
+        "position": [
+            1079.40258,
+            1502.98625,
+            0.0
+        ],
+        "shape": "Rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_0-12-52_726371155/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_0-12-52_726371155/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f51ee3fde723d24a9bfb5432f5b22e4d7599f29d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_0-12-52_726371155/pose.jsonl
@@ -0,0 +1,405 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1898.7012254926044,
+            1087.4602588774765,
+            0.7248634373596516
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1898.7012254926044,
+            1087.4602588774765,
+            3.7248634373596516
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1898.7012254926044,
+            1087.4602588774765,
+            6.724863437359652
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1898.7012254926044,
+            1087.4602588774765,
+            9.724863437359652
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1898.7012254926044,
+            1087.4602588774765,
+            12.724863437359652
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1898.7012254926044,
+            1087.4602588774765,
+            15.724863437359652
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1898.7012254926044,
+            1087.4602588774765,
+            18.72486343735965
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1898.7012254926044,
+            1087.4602588774765,
+            21.72486343735965
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1898.7012254926044,
+            1087.4602588774765,
+            24.72486343735965
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1898.7012254926044,
+            1087.4602588774765,
+            27.72486343735965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1896.103149281251,
+            1088.9602588774765,
+            27.72486343735965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1893.5050730698977,
+            1090.4602588774765,
+            27.72486343735965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1890.9069968585443,
+            1091.9602588774765,
+            27.72486343735965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1888.308920647191,
+            1093.4602588774765,
+            27.72486343735965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1885.7108444358375,
+            1094.9602588774765,
+            27.72486343735965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1885.7108444358375,
+            1094.9602588774765,
+            27.72486343735965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1882.7108444358375,
+            1094.9602588774765,
+            27.72486343735965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1879.7108444358375,
+            1094.9602588774765,
+            27.72486343735965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1876.7108444358375,
+            1094.9602588774765,
+            27.72486343735965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1873.7108444358375,
+            1094.9602588774765,
+            27.72486343735965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1870.7108444358375,
+            1094.9602588774765,
+            27.72486343735965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1870.7108444358375,
+            1094.9602588774765,
+            24.72486343735965
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1870.7108444358375,
+            1094.9602588774765,
+            21.72486343735965
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1870.7108444358375,
+            1094.9602588774765,
+            18.72486343735965
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1870.7108444358375,
+            1094.9602588774765,
+            15.724863437359652
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1870.7108444358375,
+            1094.9602588774765,
+            12.724863437359652
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1870.7108444358375,
+            1094.9602588774765,
+            9.724863437359652
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1870.7108444358375,
+            1094.9602588774765,
+            6.724863437359652
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1870.7108444358375,
+            1094.9602588774765,
+            3.7248634373596516
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1870.7108444358375,
+            1094.9602588774765,
+            0.7248634373596516
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "red",
+        "feature": "ornate facade",
+        "position": [
+            1813.43625,
+            1114.60594,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_0-14-59_292218004/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_0-14-59_292218004/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..db7b29d7532ab7116ac48242d8f2fc0d178b5e54
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_0-14-59_292218004/pose.jsonl
@@ -0,0 +1,158 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1825.814499134914,
+            1186.969458780446,
+            2.9185526102050687
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1825.814499134914,
+            1186.969458780446,
+            5.918552610205069
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1825.814499134914,
+            1186.969458780446,
+            8.918552610205069
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1825.814499134914,
+            1186.969458780446,
+            11.918552610205069
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1825.814499134914,
+            1183.969458780446,
+            11.918552610205069
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1825.814499134914,
+            1180.969458780446,
+            11.918552610205069
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1825.814499134914,
+            1177.969458780446,
+            11.918552610205069
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1825.814499134914,
+            1174.969458780446,
+            11.918552610205069
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1825.814499134914,
+            1174.969458780446,
+            8.918552610205069
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1825.814499134914,
+            1174.969458780446,
+            5.918552610205069
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1825.814499134914,
+            1174.969458780446,
+            2.9185526102050687
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "red",
+        "feature": "ornate facade",
+        "position": [
+            1813.43625,
+            1114.60594,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_0-14-5_1927495994/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_0-14-5_1927495994/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..81e1abd17081d113f9dd59c223e6c07911c20843
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_0-14-5_1927495994/pose.jsonl
@@ -0,0 +1,301 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            27.092297933137736,
+            1263.7208246143673,
+            1.0123756992368307
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            27.092297933137736,
+            1263.7208246143673,
+            4.012375699236831
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            27.092297933137736,
+            1263.7208246143673,
+            7.012375699236831
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            27.092297933137736,
+            1263.7208246143673,
+            10.01237569923683
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            27.092297933137736,
+            1263.7208246143673,
+            13.01237569923683
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            27.092297933137736,
+            1263.7208246143673,
+            16.01237569923683
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            27.092297933137736,
+            1263.7208246143673,
+            19.01237569923683
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            27.092297933137736,
+            1263.7208246143673,
+            22.01237569923683
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            29.690374144491052,
+            1262.2208246143673,
+            22.01237569923683
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            32.28845035584437,
+            1260.7208246143673,
+            22.01237569923683
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            34.886526567197684,
+            1259.2208246143673,
+            22.01237569923683
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            37.484602778551,
+            1257.7208246143673,
+            22.01237569923683
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            40.082678989904316,
+            1256.2208246143673,
+            22.01237569923683
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            42.68075520125763,
+            1254.7208246143673,
+            22.01237569923683
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            45.27883141261095,
+            1253.2208246143673,
+            22.01237569923683
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            45.27883141261095,
+            1253.2208246143673,
+            19.01237569923683
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            45.27883141261095,
+            1253.2208246143673,
+            16.01237569923683
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            45.27883141261095,
+            1253.2208246143673,
+            13.01237569923683
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            45.27883141261095,
+            1253.2208246143673,
+            10.01237569923683
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            45.27883141261095,
+            1253.2208246143673,
+            7.012375699236831
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            45.27883141261095,
+            1253.2208246143673,
+            4.012375699236831
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            45.27883141261095,
+            1253.2208246143673,
+            1.0123756992368307
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "large windows",
+        "position": [
+            79.78328,
+            1222.9301600000001,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_0-21-18_1858721860/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_0-21-18_1858721860/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..910831adeedbb98768a6d7b481deb1c5c456233b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_0-21-18_1858721860/pose.jsonl
@@ -0,0 +1,210 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            570.228187077737,
+            1741.0723973023257,
+            2.189319895447067
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            570.228187077737,
+            1741.0723973023257,
+            5.189319895447067
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            570.228187077737,
+            1741.0723973023257,
+            8.189319895447067
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            570.228187077737,
+            1741.0723973023257,
+            11.189319895447067
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            570.228187077737,
+            1741.0723973023257,
+            14.189319895447067
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            570.228187077737,
+            1741.0723973023257,
+            17.189319895447067
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            570.228187077737,
+            1741.0723973023257,
+            20.189319895447067
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            571.728187077737,
+            1743.670473513679,
+            20.189319895447067
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            573.228187077737,
+            1746.2685497250325,
+            20.189319895447067
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            573.228187077737,
+            1746.2685497250325,
+            17.189319895447067
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            573.228187077737,
+            1746.2685497250325,
+            14.189319895447067
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            573.228187077737,
+            1746.2685497250325,
+            11.189319895447067
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            573.228187077737,
+            1746.2685497250325,
+            8.189319895447067
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            573.228187077737,
+            1746.2685497250325,
+            5.189319895447067
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            573.228187077737,
+            1746.2685497250325,
+            2.189319895447067
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "striped pattern",
+        "position": [
+            615.04062,
+            1797.53312,
+            8.19947
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_0-30-24_1857962504/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_0-30-24_1857962504/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..370b8fe4c74085232ac9df6f42dfdbb3c0fba7a6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_0-30-24_1857962504/pose.jsonl
@@ -0,0 +1,158 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -785.4134367166324,
+            935.9920616501857,
+            2.7192467886104694
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -785.4134367166324,
+            935.9920616501857,
+            5.719246788610469
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -785.4134367166324,
+            935.9920616501857,
+            8.71924678861047
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -785.4134367166324,
+            935.9920616501857,
+            11.71924678861047
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -785.4134367166324,
+            935.9920616501857,
+            14.71924678861047
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -783.9134367166324,
+            938.590137861539,
+            14.71924678861047
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -782.4134367166324,
+            941.1882140728924,
+            14.71924678861047
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -782.4134367166324,
+            941.1882140728924,
+            11.71924678861047
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -782.4134367166324,
+            941.1882140728924,
+            8.71924678861047
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -782.4134367166324,
+            941.1882140728924,
+            5.719246788610469
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -782.4134367166324,
+            941.1882140728924,
+            2.7192467886104694
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "aim_landmark": {
+        "color": "red",
+        "feature": "ornate facade",
+        "position": [
+            -724.4732799999999,
+            1001.54859,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_0-32-4_213801961/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_0-32-4_213801961/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..06e3748e4e1e74d93ccfcd6a6d54ed63104c7d5c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_0-32-4_213801961/pose.jsonl
@@ -0,0 +1,353 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            546.1436669194677,
+            -977.123823438332,
+            0.8794343453054019
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            546.1436669194677,
+            -977.123823438332,
+            3.879434345305402
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            546.1436669194677,
+            -977.123823438332,
+            6.879434345305402
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            546.1436669194677,
+            -977.123823438332,
+            9.879434345305402
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            546.1436669194677,
+            -977.123823438332,
+            12.879434345305402
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            544.6436669194677,
+            -974.5257472269786,
+            12.879434345305402
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            543.1436669194677,
+            -971.9276710156253,
+            12.879434345305402
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            541.6436669194677,
+            -969.3295948042719,
+            12.879434345305402
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            540.1436669194677,
+            -966.7315185929185,
+            12.879434345305402
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            538.6436669194677,
+            -964.1334423815651,
+            12.879434345305402
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            537.1436669194677,
+            -961.5353661702118,
+            12.879434345305402
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            535.6436669194677,
+            -958.9372899588584,
+            12.879434345305402
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            534.1436669194677,
+            -956.339213747505,
+            12.879434345305402
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            532.6436669194677,
+            -953.7411375361517,
+            12.879434345305402
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            531.1436669194677,
+            -951.1430613247983,
+            12.879434345305402
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            529.6436669194677,
+            -948.5449851134449,
+            12.879434345305402
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            528.1436669194677,
+            -945.9469089020915,
+            12.879434345305402
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            526.6436669194677,
+            -943.3488326907382,
+            12.879434345305402
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            526.6436669194677,
+            -943.3488326907382,
+            12.879434345305402
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            526.6436669194677,
+            -940.3488326907382,
+            12.879434345305402
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            526.6436669194677,
+            -937.3488326907382,
+            12.879434345305402
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            526.6436669194677,
+            -934.3488326907382,
+            12.879434345305402
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            526.6436669194677,
+            -934.3488326907382,
+            9.879434345305402
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            526.6436669194677,
+            -934.3488326907382,
+            6.879434345305402
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            526.6436669194677,
+            -934.3488326907382,
+            3.879434345305402
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            526.6436669194677,
+            -934.3488326907382,
+            0.8794343453054019
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "dark",
+        "feature": "grid-like facade",
+        "position": [
+            513.35199,
+            -906.97258,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_0-43-4_1676902021/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_0-43-4_1676902021/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5b6f087403c6c9dfc704d1730eae6612b88d42cf
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_0-43-4_1676902021/pose.jsonl
@@ -0,0 +1,262 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            637.6894383952357,
+            1195.0529364474905,
+            2.0386017030823744
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            637.6894383952357,
+            1195.0529364474905,
+            5.038601703082374
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            637.6894383952357,
+            1195.0529364474905,
+            8.038601703082374
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            637.6894383952357,
+            1195.0529364474905,
+            11.038601703082374
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            637.6894383952357,
+            1195.0529364474905,
+            14.038601703082374
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            637.6894383952357,
+            1195.0529364474905,
+            17.038601703082374
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            637.6894383952357,
+            1195.0529364474905,
+            20.038601703082374
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            636.1894383952357,
+            1192.4548602361372,
+            20.038601703082374
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            634.6894383952357,
+            1189.8567840247838,
+            20.038601703082374
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            633.1894383952357,
+            1187.2587078134304,
+            20.038601703082374
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            631.6894383952357,
+            1184.660631602077,
+            20.038601703082374
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            630.1894383952357,
+            1182.0625553907237,
+            20.038601703082374
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            628.6894383952357,
+            1179.4644791793703,
+            20.038601703082374
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            628.6894383952357,
+            1179.4644791793703,
+            17.038601703082374
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            628.6894383952357,
+            1179.4644791793703,
+            14.038601703082374
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            628.6894383952357,
+            1179.4644791793703,
+            11.038601703082374
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            628.6894383952357,
+            1179.4644791793703,
+            8.038601703082374
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            628.6894383952357,
+            1179.4644791793703,
+            5.038601703082374
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            628.6894383952357,
+            1179.4644791793703,
+            2.0386017030823744
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "dark",
+        "feature": "grid-like window pattern",
+        "position": [
+            587.94773,
+            1124.74844,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_1-14-29_739273303/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_1-14-29_739273303/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a352ea0b85f50553bbf786c50fac95ab92b9558c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_1-14-29_739273303/pose.jsonl
@@ -0,0 +1,119 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1873.8916258837153,
+            1372.614969934947,
+            2.0884864123947118
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1873.8916258837153,
+            1372.614969934947,
+            5.088486412394712
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1873.8916258837153,
+            1372.614969934947,
+            8.088486412394712
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1871.293549672362,
+            1371.114969934947,
+            8.088486412394712
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1868.6954734610085,
+            1369.614969934947,
+            8.088486412394712
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1866.0973972496552,
+            1368.114969934947,
+            8.088486412394712
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1866.0973972496552,
+            1368.114969934947,
+            5.088486412394712
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1866.0973972496552,
+            1368.114969934947,
+            2.0884864123947118
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "ornate detailing",
+        "position": [
+            1813.43578,
+            1348.78875,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_1-21-30_661761152/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_1-21-30_661761152/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6bec04dcfc218e28d82eec3eb825dc4613e85620
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_1-21-30_661761152/pose.jsonl
@@ -0,0 +1,353 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -778.0249778574369,
+            1150.441808395681,
+            0.5273177131019313
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -778.0249778574369,
+            1150.441808395681,
+            3.5273177131019313
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -778.0249778574369,
+            1150.441808395681,
+            6.527317713101931
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -778.0249778574369,
+            1150.441808395681,
+            9.527317713101931
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -778.0249778574369,
+            1150.441808395681,
+            12.527317713101931
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -778.0249778574369,
+            1153.441808395681,
+            12.527317713101931
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -778.0249778574369,
+            1156.441808395681,
+            12.527317713101931
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -778.0249778574369,
+            1159.441808395681,
+            12.527317713101931
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -778.0249778574369,
+            1162.441808395681,
+            12.527317713101931
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -778.0249778574369,
+            1165.441808395681,
+            12.527317713101931
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -778.0249778574369,
+            1168.441808395681,
+            12.527317713101931
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -778.0249778574369,
+            1171.441808395681,
+            12.527317713101931
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -778.0249778574369,
+            1174.441808395681,
+            12.527317713101931
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -778.0249778574369,
+            1177.441808395681,
+            12.527317713101931
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -778.0249778574369,
+            1177.441808395681,
+            12.527317713101931
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -779.5249778574369,
+            1180.0398846070343,
+            12.527317713101931
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -781.0249778574369,
+            1182.6379608183877,
+            12.527317713101931
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -782.5249778574369,
+            1185.236037029741,
+            12.527317713101931
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -784.0249778574369,
+            1187.8341132410944,
+            12.527317713101931
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -784.0249778574369,
+            1187.8341132410944,
+            12.527317713101931
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -786.6230540687902,
+            1189.3341132410944,
+            12.527317713101931
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -789.2211302801436,
+            1190.8341132410944,
+            12.527317713101931
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -789.2211302801436,
+            1190.8341132410944,
+            9.527317713101931
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -789.2211302801436,
+            1190.8341132410944,
+            6.527317713101931
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -789.2211302801436,
+            1190.8341132410944,
+            3.5273177131019313
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -789.2211302801436,
+            1190.8341132410944,
+            0.5273177131019313
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "glass windows",
+        "position": [
+            -800.52586,
+            1225.18375,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "right",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_1-34-27_496060028/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_1-34-27_496060028/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8b71f1733f73ef7c0237b055f00195b7e39fcdbb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_1-34-27_496060028/pose.jsonl
@@ -0,0 +1,184 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            923.6072311345245,
+            425.98299195402075,
+            2.0412785892156435
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            923.6072311345245,
+            425.98299195402075,
+            5.0412785892156435
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            923.6072311345245,
+            425.98299195402075,
+            8.041278589215644
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            923.6072311345245,
+            425.98299195402075,
+            11.041278589215644
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            923.6072311345245,
+            425.98299195402075,
+            14.041278589215644
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            923.6072311345245,
+            425.98299195402075,
+            17.041278589215644
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            921.0091549231711,
+            427.48299195402075,
+            17.041278589215644
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            918.4110787118177,
+            428.98299195402075,
+            17.041278589215644
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            918.4110787118177,
+            428.98299195402075,
+            14.041278589215644
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            918.4110787118177,
+            428.98299195402075,
+            11.041278589215644
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            918.4110787118177,
+            428.98299195402075,
+            8.041278589215644
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            918.4110787118177,
+            428.98299195402075,
+            5.0412785892156435
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            918.4110787118177,
+            428.98299195402075,
+            2.0412785892156435
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "classical architectural elements",
+        "position": [
+            876.5279700000001,
+            470.38996,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_1-35-1_828388027/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_1-35-1_828388027/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..102d5883fd1d77ca96c0277b7f7338cfb4ba05fd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_1-35-1_828388027/pose.jsonl
@@ -0,0 +1,223 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1890.2395042495702,
+            1272.5650787527397,
+            2.659744232968688
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1890.2395042495702,
+            1272.5650787527397,
+            5.659744232968688
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1890.2395042495702,
+            1272.5650787527397,
+            8.659744232968688
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1890.2395042495702,
+            1272.5650787527397,
+            11.659744232968688
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1890.2395042495702,
+            1272.5650787527397,
+            14.659744232968688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1887.2395042495702,
+            1272.5650787527397,
+            14.659744232968688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1884.2395042495702,
+            1272.5650787527397,
+            14.659744232968688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1881.2395042495702,
+            1272.5650787527397,
+            14.659744232968688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1878.2395042495702,
+            1272.5650787527397,
+            14.659744232968688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1875.2395042495702,
+            1272.5650787527397,
+            14.659744232968688
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1875.2395042495702,
+            1272.5650787527397,
+            14.659744232968688
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1872.6414280382169,
+            1271.0650787527397,
+            14.659744232968688
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1872.6414280382169,
+            1271.0650787527397,
+            11.659744232968688
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1872.6414280382169,
+            1271.0650787527397,
+            8.659744232968688
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1872.6414280382169,
+            1271.0650787527397,
+            5.659744232968688
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1872.6414280382169,
+            1271.0650787527397,
+            2.659744232968688
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "arched windows",
+        "position": [
+            1804.68734,
+            1257.96664,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_1-36-33_332266748/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_1-36-33_332266748/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..73fbb99728336302ca38b9fdf1bbc31ec60adff9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_1-36-33_332266748/pose.jsonl
@@ -0,0 +1,301 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            847.0083585308913,
+            -710.4904166377837,
+            2.73637444130523
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            847.0083585308913,
+            -710.4904166377837,
+            5.73637444130523
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            847.0083585308913,
+            -710.4904166377837,
+            8.73637444130523
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            847.0083585308913,
+            -710.4904166377837,
+            11.73637444130523
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            847.0083585308913,
+            -710.4904166377837,
+            14.73637444130523
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            847.0083585308913,
+            -710.4904166377837,
+            17.73637444130523
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            847.0083585308913,
+            -710.4904166377837,
+            20.73637444130523
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            847.0083585308913,
+            -710.4904166377837,
+            23.73637444130523
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            845.5083585308913,
+            -707.8923404264303,
+            23.73637444130523
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            844.0083585308913,
+            -705.294264215077,
+            23.73637444130523
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            842.5083585308913,
+            -702.6961880037236,
+            23.73637444130523
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            841.0083585308913,
+            -700.0981117923702,
+            23.73637444130523
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            839.5083585308913,
+            -697.5000355810168,
+            23.73637444130523
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            838.0083585308913,
+            -694.9019593696635,
+            23.73637444130523
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            836.5083585308913,
+            -692.3038831583101,
+            23.73637444130523
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            836.5083585308913,
+            -692.3038831583101,
+            20.73637444130523
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            836.5083585308913,
+            -692.3038831583101,
+            17.73637444130523
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            836.5083585308913,
+            -692.3038831583101,
+            14.73637444130523
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            836.5083585308913,
+            -692.3038831583101,
+            11.73637444130523
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            836.5083585308913,
+            -692.3038831583101,
+            8.73637444130523
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            836.5083585308913,
+            -692.3038831583101,
+            5.73637444130523
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            836.5083585308913,
+            -692.3038831583101,
+            2.73637444130523
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "glass windows",
+        "position": [
+            792.48453,
+            -638.04125,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_1-39-43_816504794/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_1-39-43_816504794/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..26af4b19f95abba43dfed5d602bedefb9afd34a2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_1-39-43_816504794/pose.jsonl
@@ -0,0 +1,288 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1341.1675957523662,
+            -81.29349087211442,
+            0.7148876303344611
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1341.1675957523662,
+            -81.29349087211442,
+            3.714887630334461
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1341.1675957523662,
+            -81.29349087211442,
+            6.714887630334461
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1341.1675957523662,
+            -81.29349087211442,
+            9.714887630334461
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1341.1675957523662,
+            -81.29349087211442,
+            12.714887630334461
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1339.6675957523662,
+            -83.89156708346773,
+            12.714887630334461
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1338.1675957523662,
+            -86.48964329482105,
+            12.714887630334461
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1336.6675957523662,
+            -89.08771950617437,
+            12.714887630334461
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1335.1675957523662,
+            -91.68579571752768,
+            12.714887630334461
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1335.1675957523662,
+            -91.68579571752768,
+            12.714887630334461
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1335.1675957523662,
+            -94.68579571752768,
+            12.714887630334461
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1335.1675957523662,
+            -97.68579571752768,
+            12.714887630334461
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1335.1675957523662,
+            -100.68579571752768,
+            12.714887630334461
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1335.1675957523662,
+            -103.68579571752768,
+            12.714887630334461
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1335.1675957523662,
+            -106.68579571752768,
+            12.714887630334461
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1335.1675957523662,
+            -109.68579571752768,
+            12.714887630334461
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1335.1675957523662,
+            -112.68579571752768,
+            12.714887630334461
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1335.1675957523662,
+            -112.68579571752768,
+            9.714887630334461
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1335.1675957523662,
+            -112.68579571752768,
+            6.714887630334461
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1335.1675957523662,
+            -112.68579571752768,
+            3.714887630334461
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1335.1675957523662,
+            -112.68579571752768,
+            0.7148876303344611
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "classical architectural elements",
+        "position": [
+            1324.44344,
+            -142.27876,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_1-9-2_1034514500/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_1-9-2_1034514500/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7456d907ee35bf98562ec69209ca22dd73e30220
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_1-9-2_1034514500/pose.jsonl
@@ -0,0 +1,236 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -473.4314524186307,
+            1281.8797047744572,
+            2.6793009494668194
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -473.4314524186307,
+            1281.8797047744572,
+            5.679300949466819
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -473.4314524186307,
+            1281.8797047744572,
+            8.67930094946682
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -473.4314524186307,
+            1281.8797047744572,
+            11.67930094946682
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -473.4314524186307,
+            1281.8797047744572,
+            14.67930094946682
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -470.4314524186307,
+            1281.8797047744572,
+            14.67930094946682
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -467.4314524186307,
+            1281.8797047744572,
+            14.67930094946682
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -467.4314524186307,
+            1281.8797047744572,
+            14.67930094946682
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -467.4314524186307,
+            1281.8797047744572,
+            14.67930094946682
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -465.9314524186307,
+            1279.2816285631038,
+            14.67930094946682
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -464.4314524186307,
+            1276.6835523517504,
+            14.67930094946682
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -462.9314524186307,
+            1274.085476140397,
+            14.67930094946682
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -461.4314524186307,
+            1271.4873999290437,
+            14.67930094946682
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -461.4314524186307,
+            1271.4873999290437,
+            11.67930094946682
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -461.4314524186307,
+            1271.4873999290437,
+            8.67930094946682
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -461.4314524186307,
+            1271.4873999290437,
+            5.679300949466819
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -461.4314524186307,
+            1271.4873999290437,
+            2.6793009494668194
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "arched windows",
+        "position": [
+            -431.64051,
+            1234.7704700000002,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_10-1-3_2010794583/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_10-1-3_2010794583/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b70b7d808fcdb33b39fa10288a4344b4813fbb96
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_10-1-3_2010794583/pose.jsonl
@@ -0,0 +1,236 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1211.69971833171,
+            1596.09162361188,
+            0.2810483403217283
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1211.69971833171,
+            1596.09162361188,
+            3.2810483403217283
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1211.69971833171,
+            1596.09162361188,
+            6.281048340321728
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1211.69971833171,
+            1596.09162361188,
+            9.281048340321728
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1211.69971833171,
+            1596.09162361188,
+            12.281048340321728
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1211.69971833171,
+            1596.09162361188,
+            15.281048340321728
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1213.19971833171,
+            1593.4935474005267,
+            15.281048340321728
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1214.69971833171,
+            1590.8954711891733,
+            15.281048340321728
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1216.19971833171,
+            1588.29739497782,
+            15.281048340321728
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1217.69971833171,
+            1585.6993187664666,
+            15.281048340321728
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1217.69971833171,
+            1585.6993187664666,
+            15.281048340321728
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1220.2977945430634,
+            1584.1993187664666,
+            15.281048340321728
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1220.2977945430634,
+            1584.1993187664666,
+            12.281048340321728
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1220.2977945430634,
+            1584.1993187664666,
+            9.281048340321728
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1220.2977945430634,
+            1584.1993187664666,
+            6.281048340321728
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1220.2977945430634,
+            1584.1993187664666,
+            3.2810483403217283
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1220.2977945430634,
+            1584.1993187664666,
+            0.2810483403217283
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "aim_landmark": {
+        "color": "gray",
+        "feature": "large windows",
+        "position": [
+            -1265.29625,
+            1526.80562,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_10-28-2_1867107722/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_10-28-2_1867107722/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c42fffec4bdf0f51ad5edf383f03c8ca2336032b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_10-28-2_1867107722/pose.jsonl
@@ -0,0 +1,314 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -307.72293005616143,
+            1178.3919429911398,
+            2.8788601050267033
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -307.72293005616143,
+            1178.3919429911398,
+            5.878860105026703
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -307.72293005616143,
+            1178.3919429911398,
+            8.878860105026703
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -307.72293005616143,
+            1178.3919429911398,
+            11.878860105026703
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -307.72293005616143,
+            1178.3919429911398,
+            14.878860105026703
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -307.72293005616143,
+            1178.3919429911398,
+            17.878860105026703
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -307.72293005616143,
+            1178.3919429911398,
+            20.878860105026703
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -307.72293005616143,
+            1178.3919429911398,
+            23.878860105026703
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -307.72293005616143,
+            1178.3919429911398,
+            26.878860105026703
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -307.72293005616143,
+            1178.3919429911398,
+            29.878860105026703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -307.72293005616143,
+            1175.3919429911398,
+            29.878860105026703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -307.72293005616143,
+            1172.3919429911398,
+            29.878860105026703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -307.72293005616143,
+            1169.3919429911398,
+            29.878860105026703
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -307.72293005616143,
+            1166.3919429911398,
+            29.878860105026703
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -307.72293005616143,
+            1166.3919429911398,
+            26.878860105026703
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -307.72293005616143,
+            1166.3919429911398,
+            23.878860105026703
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -307.72293005616143,
+            1166.3919429911398,
+            20.878860105026703
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -307.72293005616143,
+            1166.3919429911398,
+            17.878860105026703
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -307.72293005616143,
+            1166.3919429911398,
+            14.878860105026703
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -307.72293005616143,
+            1166.3919429911398,
+            11.878860105026703
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -307.72293005616143,
+            1166.3919429911398,
+            8.878860105026703
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -307.72293005616143,
+            1166.3919429911398,
+            5.878860105026703
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -307.72293005616143,
+            1166.3919429911398,
+            2.8788601050267033
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "elevated structure",
+        "position": [
+            -314.69711,
+            1080.11328,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_10-34-19_846621269/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_10-34-19_846621269/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..64aa06d22456c43b81116090a6522ee4b3f2ee6d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_10-34-19_846621269/pose.jsonl
@@ -0,0 +1,236 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1167.432258274192,
+            192.98358514764988,
+            2.1158400205302463
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1167.432258274192,
+            192.98358514764988,
+            5.115840020530246
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1167.432258274192,
+            192.98358514764988,
+            8.115840020530246
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1167.432258274192,
+            192.98358514764988,
+            11.115840020530246
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1167.432258274192,
+            192.98358514764988,
+            14.115840020530246
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1167.432258274192,
+            192.98358514764988,
+            17.115840020530246
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1167.432258274192,
+            192.98358514764988,
+            20.115840020530246
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1167.432258274192,
+            192.98358514764988,
+            23.115840020530246
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1170.0303344855454,
+            194.48358514764988,
+            23.115840020530246
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1172.6284106968988,
+            195.98358514764988,
+            23.115840020530246
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1172.6284106968988,
+            195.98358514764988,
+            20.115840020530246
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1172.6284106968988,
+            195.98358514764988,
+            17.115840020530246
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1172.6284106968988,
+            195.98358514764988,
+            14.115840020530246
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1172.6284106968988,
+            195.98358514764988,
+            11.115840020530246
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1172.6284106968988,
+            195.98358514764988,
+            8.115840020530246
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1172.6284106968988,
+            195.98358514764988,
+            5.115840020530246
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1172.6284106968988,
+            195.98358514764988,
+            2.1158400205302463
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "tapered top",
+        "position": [
+            -1217.8267999999998,
+            243.00176,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_10-45-1_481928577/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_10-45-1_481928577/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e6af5669e65a362cec14d2ae26d7dc58013e1555
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_10-45-1_481928577/pose.jsonl
@@ -0,0 +1,535 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            417.88046080211075,
+            1737.7507704850198,
+            0.9871585333814004
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            417.88046080211075,
+            1737.7507704850198,
+            3.9871585333814004
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            417.88046080211075,
+            1737.7507704850198,
+            6.9871585333814
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            417.88046080211075,
+            1737.7507704850198,
+            9.9871585333814
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            417.88046080211075,
+            1737.7507704850198,
+            12.9871585333814
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            417.88046080211075,
+            1737.7507704850198,
+            15.9871585333814
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            417.88046080211075,
+            1737.7507704850198,
+            18.9871585333814
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            417.88046080211075,
+            1737.7507704850198,
+            21.9871585333814
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            417.88046080211075,
+            1737.7507704850198,
+            24.9871585333814
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            415.28238459075743,
+            1739.2507704850198,
+            24.9871585333814
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            412.6843083794041,
+            1740.7507704850198,
+            24.9871585333814
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            410.0862321680508,
+            1742.2507704850198,
+            24.9871585333814
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            407.4881559566975,
+            1743.7507704850198,
+            24.9871585333814
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            404.89007974534417,
+            1745.2507704850198,
+            24.9871585333814
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            402.29200353399085,
+            1746.7507704850198,
+            24.9871585333814
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            399.69392732263753,
+            1748.2507704850198,
+            24.9871585333814
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            399.69392732263753,
+            1748.2507704850198,
+            24.9871585333814
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            396.69392732263753,
+            1748.2507704850198,
+            24.9871585333814
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            393.69392732263753,
+            1748.2507704850198,
+            24.9871585333814
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            390.69392732263753,
+            1748.2507704850198,
+            24.9871585333814
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            387.69392732263753,
+            1748.2507704850198,
+            24.9871585333814
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            384.69392732263753,
+            1748.2507704850198,
+            24.9871585333814
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            381.69392732263753,
+            1748.2507704850198,
+            24.9871585333814
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            381.69392732263753,
+            1748.2507704850198,
+            24.9871585333814
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            379.0958511112842,
+            1749.7507704850198,
+            24.9871585333814
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            376.4977748999309,
+            1751.2507704850198,
+            24.9871585333814
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            373.8996986885776,
+            1752.7507704850198,
+            24.9871585333814
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            371.30162247722427,
+            1754.2507704850198,
+            24.9871585333814
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            368.70354626587095,
+            1755.7507704850198,
+            24.9871585333814
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            368.70354626587095,
+            1755.7507704850198,
+            24.9871585333814
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            367.20354626587095,
+            1758.3488466963731,
+            24.9871585333814
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            365.70354626587095,
+            1760.9469229077265,
+            24.9871585333814
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            365.70354626587095,
+            1760.9469229077265,
+            21.9871585333814
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            365.70354626587095,
+            1760.9469229077265,
+            18.9871585333814
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            365.70354626587095,
+            1760.9469229077265,
+            15.9871585333814
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            365.70354626587095,
+            1760.9469229077265,
+            12.9871585333814
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            365.70354626587095,
+            1760.9469229077265,
+            9.9871585333814
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            365.70354626587095,
+            1760.9469229077265,
+            6.9871585333814
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            365.70354626587095,
+            1760.9469229077265,
+            3.9871585333814004
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            365.70354626587095,
+            1760.9469229077265,
+            0.9871585333814004
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "large windows",
+        "position": [
+            344.74413999999996,
+            1772.6210899999999,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "left",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_10-5-7_1384095820/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_10-5-7_1384095820/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ea16a525fbe5f4193aea94e8618ed579ea7c570e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_10-5-7_1384095820/pose.jsonl
@@ -0,0 +1,444 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            242.31813229903696,
+            1189.2833549890977,
+            1.596812006496961
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            242.31813229903696,
+            1189.2833549890977,
+            4.596812006496961
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            242.31813229903696,
+            1189.2833549890977,
+            7.596812006496961
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            242.31813229903696,
+            1189.2833549890977,
+            10.596812006496961
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            242.31813229903696,
+            1189.2833549890977,
+            13.596812006496961
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            242.31813229903696,
+            1189.2833549890977,
+            16.59681200649696
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            242.31813229903696,
+            1189.2833549890977,
+            19.59681200649696
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            242.31813229903696,
+            1189.2833549890977,
+            22.59681200649696
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            242.31813229903696,
+            1189.2833549890977,
+            25.59681200649696
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            242.31813229903696,
+            1189.2833549890977,
+            28.59681200649696
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            240.81813229903696,
+            1186.6852787777443,
+            28.59681200649696
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            239.31813229903696,
+            1184.087202566391,
+            28.59681200649696
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            237.81813229903696,
+            1181.4891263550376,
+            28.59681200649696
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            236.31813229903696,
+            1178.8910501436842,
+            28.59681200649696
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            234.81813229903696,
+            1176.2929739323308,
+            28.59681200649696
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            233.31813229903696,
+            1173.6948977209775,
+            28.59681200649696
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            231.81813229903696,
+            1171.096821509624,
+            28.59681200649696
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            230.31813229903696,
+            1168.4987452982707,
+            28.59681200649696
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            228.81813229903696,
+            1165.9006690869173,
+            28.59681200649696
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            227.31813229903696,
+            1163.302592875564,
+            28.59681200649696
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            225.81813229903696,
+            1160.7045166642106,
+            28.59681200649696
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            225.81813229903696,
+            1160.7045166642106,
+            28.59681200649696
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            223.22005608768364,
+            1159.2045166642106,
+            28.59681200649696
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            220.62197987633033,
+            1157.7045166642106,
+            28.59681200649696
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            220.62197987633033,
+            1157.7045166642106,
+            25.59681200649696
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            220.62197987633033,
+            1157.7045166642106,
+            22.59681200649696
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            220.62197987633033,
+            1157.7045166642106,
+            19.59681200649696
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            220.62197987633033,
+            1157.7045166642106,
+            16.59681200649696
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            220.62197987633033,
+            1157.7045166642106,
+            13.596812006496961
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            220.62197987633033,
+            1157.7045166642106,
+            10.596812006496961
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            220.62197987633033,
+            1157.7045166642106,
+            7.596812006496961
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            220.62197987633033,
+            1157.7045166642106,
+            4.596812006496961
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            220.62197987633033,
+            1157.7045166642106,
+            1.596812006496961
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "glass windows",
+        "position": [
+            185.03059000000002,
+            1111.43656,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_10-59-52_620089368/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_10-59-52_620089368/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ee245483d8c26d17a67dc1cfe5fd130dc81f0a1b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_10-59-52_620089368/pose.jsonl
@@ -0,0 +1,197 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1006.5735728063463,
+            1180.0841857520659,
+            0.17189279767924148
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1006.5735728063463,
+            1180.0841857520659,
+            3.1718927976792415
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1006.5735728063463,
+            1180.0841857520659,
+            6.1718927976792415
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1006.5735728063463,
+            1180.0841857520659,
+            9.171892797679241
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1006.5735728063463,
+            1180.0841857520659,
+            12.171892797679241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1005.0735728063463,
+            1182.6822619634193,
+            12.171892797679241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1003.5735728063463,
+            1185.2803381747726,
+            12.171892797679241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1002.0735728063463,
+            1187.878414386126,
+            12.171892797679241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1000.5735728063463,
+            1190.4764905974794,
+            12.171892797679241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            999.0735728063463,
+            1193.0745668088327,
+            12.171892797679241
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            999.0735728063463,
+            1193.0745668088327,
+            9.171892797679241
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            999.0735728063463,
+            1193.0745668088327,
+            6.1718927976792415
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            999.0735728063463,
+            1193.0745668088327,
+            3.1718927976792415
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            999.0735728063463,
+            1193.0745668088327,
+            0.17189279767924148
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "ornate detailing",
+        "position": [
+            951.4232000000001,
+            1259.0698399999999,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_11-1-15_1396918184/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_11-1-15_1396918184/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0068b2087165bc0cb95691c44c28856fbe8b0021
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_11-1-15_1396918184/pose.jsonl
@@ -0,0 +1,418 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1323.6635278459662,
+            343.1154971952186,
+            1.9293336768668858
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1323.6635278459662,
+            343.1154971952186,
+            4.929333676866886
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1323.6635278459662,
+            343.1154971952186,
+            7.929333676866886
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1323.6635278459662,
+            343.1154971952186,
+            10.929333676866886
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1323.6635278459662,
+            343.1154971952186,
+            13.929333676866886
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1323.6635278459662,
+            343.1154971952186,
+            16.929333676866886
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1323.6635278459662,
+            343.1154971952186,
+            19.929333676866886
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1323.6635278459662,
+            343.1154971952186,
+            22.929333676866886
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1323.6635278459662,
+            343.1154971952186,
+            25.929333676866886
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1326.2616040573196,
+            344.6154971952186,
+            25.929333676866886
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1328.859680268673,
+            346.1154971952186,
+            25.929333676866886
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1331.4577564800263,
+            347.6154971952186,
+            25.929333676866886
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1334.0558326913797,
+            349.1154971952186,
+            25.929333676866886
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1336.653908902733,
+            350.6154971952186,
+            25.929333676866886
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1339.2519851140864,
+            352.1154971952186,
+            25.929333676866886
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1341.8500613254398,
+            353.6154971952186,
+            25.929333676866886
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1344.4481375367932,
+            355.1154971952186,
+            25.929333676866886
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1344.4481375367932,
+            355.1154971952186,
+            25.929333676866886
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1345.9481375367932,
+            357.7135734065719,
+            25.929333676866886
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1347.4481375367932,
+            360.31164961792524,
+            25.929333676866886
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1348.9481375367932,
+            362.90972582927856,
+            25.929333676866886
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1350.4481375367932,
+            365.5078020406319,
+            25.929333676866886
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1351.9481375367932,
+            368.1058782519852,
+            25.929333676866886
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1351.9481375367932,
+            368.1058782519852,
+            22.929333676866886
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1351.9481375367932,
+            368.1058782519852,
+            19.929333676866886
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1351.9481375367932,
+            368.1058782519852,
+            16.929333676866886
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1351.9481375367932,
+            368.1058782519852,
+            13.929333676866886
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1351.9481375367932,
+            368.1058782519852,
+            10.929333676866886
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1351.9481375367932,
+            368.1058782519852,
+            7.929333676866886
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1351.9481375367932,
+            368.1058782519852,
+            4.929333676866886
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1351.9481375367932,
+            368.1058782519852,
+            1.9293336768668858
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "beige",
+        "feature": "classical architectural elements",
+        "position": [
+            1383.32766,
+            395.29218999999995,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_2-11-9_136495343/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_2-11-9_136495343/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6ae27eaf573dbc5de1ace8b32a9d874b920b0a04
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_2-11-9_136495343/pose.jsonl
@@ -0,0 +1,366 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1018.7193776757675,
+            163.27350321532882,
+            1.565037299488754
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1018.7193776757675,
+            163.27350321532882,
+            4.565037299488754
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1018.7193776757675,
+            163.27350321532882,
+            7.565037299488754
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1018.7193776757675,
+            163.27350321532882,
+            10.565037299488754
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1018.7193776757675,
+            163.27350321532882,
+            13.565037299488754
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1018.7193776757675,
+            163.27350321532882,
+            16.565037299488754
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1018.7193776757675,
+            163.27350321532882,
+            19.565037299488754
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1018.7193776757675,
+            163.27350321532882,
+            22.565037299488754
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1018.7193776757675,
+            163.27350321532882,
+            25.565037299488754
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1018.7193776757675,
+            163.27350321532882,
+            28.565037299488754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1020.2193776757675,
+            160.6754270039755,
+            28.565037299488754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1021.7193776757675,
+            158.07735079262218,
+            28.565037299488754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1023.2193776757675,
+            155.47927458126887,
+            28.565037299488754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1024.7193776757674,
+            152.88119836991555,
+            28.565037299488754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393163
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1026.2193776757674,
+            150.28312215856224,
+            28.565037299488754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1027.7193776757674,
+            147.68504594720892,
+            28.565037299488754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1029.2193776757674,
+            145.0869697358556,
+            28.565037299488754
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1030.7193776757674,
+            142.4888935245023,
+            28.565037299488754
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1030.7193776757674,
+            142.4888935245023,
+            25.565037299488754
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1030.7193776757674,
+            142.4888935245023,
+            22.565037299488754
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1030.7193776757674,
+            142.4888935245023,
+            19.565037299488754
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1030.7193776757674,
+            142.4888935245023,
+            16.565037299488754
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1030.7193776757674,
+            142.4888935245023,
+            13.565037299488754
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1030.7193776757674,
+            142.4888935245023,
+            10.565037299488754
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1030.7193776757674,
+            142.4888935245023,
+            7.565037299488754
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1030.7193776757674,
+            142.4888935245023,
+            4.565037299488754
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1030.7193776757674,
+            142.4888935245023,
+            1.565037299488754
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "grid-like window pattern",
+        "position": [
+            -1059.39523,
+            93.89168,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_2-20-1_561717988/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_2-20-1_561717988/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3a2ab21988dd7c103c8a1384c344dd56aa082722
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_2-20-1_561717988/pose.jsonl
@@ -0,0 +1,197 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            268.9035080842968,
+            1294.9035792678892,
+            0.8733722940829391
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            268.9035080842968,
+            1294.9035792678892,
+            3.873372294082939
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            268.9035080842968,
+            1294.9035792678892,
+            6.873372294082939
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            268.9035080842968,
+            1294.9035792678892,
+            9.87337229408294
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            268.9035080842968,
+            1294.9035792678892,
+            12.87337229408294
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            268.9035080842968,
+            1294.9035792678892,
+            15.87337229408294
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            271.9035080842968,
+            1294.9035792678892,
+            15.87337229408294
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            274.9035080842968,
+            1294.9035792678892,
+            15.87337229408294
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            277.9035080842968,
+            1294.9035792678892,
+            15.87337229408294
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            277.9035080842968,
+            1294.9035792678892,
+            12.87337229408294
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            277.9035080842968,
+            1294.9035792678892,
+            9.87337229408294
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            277.9035080842968,
+            1294.9035792678892,
+            6.873372294082939
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            277.9035080842968,
+            1294.9035792678892,
+            3.873372294082939
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            277.9035080842968,
+            1294.9035792678892,
+            0.8733722940829391
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "large windows",
+        "position": [
+            365.49051,
+            1296.91062,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_2-32-7_400000569/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_2-32-7_400000569/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8584fc415efcc8f7b6d5633b5a54c6a46bf14bb7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_2-32-7_400000569/pose.jsonl
@@ -0,0 +1,327 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -752.1462710383337,
+            1174.157006956561,
+            0.6443724149790775
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -752.1462710383337,
+            1174.157006956561,
+            3.6443724149790775
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -752.1462710383337,
+            1174.157006956561,
+            6.6443724149790775
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -752.1462710383337,
+            1174.157006956561,
+            9.644372414979077
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -752.1462710383337,
+            1174.157006956561,
+            12.644372414979077
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -752.1462710383337,
+            1174.157006956561,
+            15.644372414979077
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -752.1462710383337,
+            1174.157006956561,
+            18.644372414979077
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -752.1462710383337,
+            1174.157006956561,
+            21.644372414979077
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -752.1462710383337,
+            1174.157006956561,
+            24.644372414979077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -753.6462710383337,
+            1176.7550831679143,
+            24.644372414979077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -755.1462710383337,
+            1179.3531593792677,
+            24.644372414979077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -756.6462710383337,
+            1181.951235590621,
+            24.644372414979077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -758.1462710383337,
+            1184.5493118019745,
+            24.644372414979077
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -758.1462710383337,
+            1184.5493118019745,
+            24.644372414979077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -760.744347249687,
+            1186.0493118019745,
+            24.644372414979077
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -763.3424234610404,
+            1187.5493118019745,
+            24.644372414979077
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -763.3424234610404,
+            1187.5493118019745,
+            21.644372414979077
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -763.3424234610404,
+            1187.5493118019745,
+            18.644372414979077
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -763.3424234610404,
+            1187.5493118019745,
+            15.644372414979077
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -763.3424234610404,
+            1187.5493118019745,
+            12.644372414979077
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -763.3424234610404,
+            1187.5493118019745,
+            9.644372414979077
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -763.3424234610404,
+            1187.5493118019745,
+            6.6443724149790775
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -763.3424234610404,
+            1187.5493118019745,
+            3.6443724149790775
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -763.3424234610404,
+            1187.5493118019745,
+            0.6443724149790775
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "glass windows",
+        "position": [
+            -800.52586,
+            1225.18375,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_2-39-19_847228023/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_2-39-19_847228023/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d672bf9a0cacbdfb1bfc3c8f5257722335c5da97
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_2-39-19_847228023/pose.jsonl
@@ -0,0 +1,392 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1855.6461842892484,
+            642.237075546239,
+            1.8774799197013134
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1855.6461842892484,
+            642.237075546239,
+            4.8774799197013134
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1855.6461842892484,
+            642.237075546239,
+            7.8774799197013134
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1855.6461842892484,
+            642.237075546239,
+            10.877479919701313
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1857.1461842892484,
+            644.8351517575923,
+            10.877479919701313
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1858.6461842892484,
+            647.4332279689456,
+            10.877479919701313
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1858.6461842892484,
+            647.4332279689456,
+            10.877479919701313
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1858.6461842892484,
+            650.4332279689456,
+            10.877479919701313
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1858.6461842892484,
+            653.4332279689456,
+            10.877479919701313
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1858.6461842892484,
+            656.4332279689456,
+            10.877479919701313
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1858.6461842892484,
+            659.4332279689456,
+            10.877479919701313
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1858.6461842892484,
+            662.4332279689456,
+            10.877479919701313
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1858.6461842892484,
+            665.4332279689456,
+            10.877479919701313
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1858.6461842892484,
+            668.4332279689456,
+            10.877479919701313
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1858.6461842892484,
+            671.4332279689456,
+            10.877479919701313
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1858.6461842892484,
+            674.4332279689456,
+            10.877479919701313
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1858.6461842892484,
+            677.4332279689456,
+            10.877479919701313
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1858.6461842892484,
+            680.4332279689456,
+            10.877479919701313
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1858.6461842892484,
+            683.4332279689456,
+            10.877479919701313
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1858.6461842892484,
+            686.4332279689456,
+            10.877479919701313
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1858.6461842892484,
+            686.4332279689456,
+            10.877479919701313
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1857.1461842892484,
+            689.031304180299,
+            10.877479919701313
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1855.6461842892484,
+            691.6293803916524,
+            10.877479919701313
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1854.1461842892484,
+            694.2274566030057,
+            10.877479919701313
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1852.6461842892484,
+            696.8255328143591,
+            10.877479919701313
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1851.1461842892484,
+            699.4236090257125,
+            10.877479919701313
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1851.1461842892484,
+            699.4236090257125,
+            7.8774799197013134
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1851.1461842892484,
+            699.4236090257125,
+            4.8774799197013134
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1851.1461842892484,
+            699.4236090257125,
+            1.8774799197013134
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "arched windows",
+        "position": [
+            1846.75984,
+            727.00875,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_2-42-15_1866000081/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_2-42-15_1866000081/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ffa7cdfb2201b978d119a16d0d3975f5dd3785ce
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_2-42-15_1866000081/pose.jsonl
@@ -0,0 +1,223 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1692.6059253156122,
+            357.79974838275507,
+            1.668889550766865
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1692.6059253156122,
+            357.79974838275507,
+            4.668889550766865
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1692.6059253156122,
+            357.79974838275507,
+            7.668889550766865
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1692.6059253156122,
+            357.79974838275507,
+            10.668889550766865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1691.1059253156122,
+            360.3978245941084,
+            10.668889550766865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1689.6059253156122,
+            362.9959008054617,
+            10.668889550766865
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1689.6059253156122,
+            362.9959008054617,
+            10.668889550766865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1689.6059253156122,
+            365.9959008054617,
+            10.668889550766865
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1689.6059253156122,
+            365.9959008054617,
+            10.668889550766865
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1689.6059253156122,
+            365.9959008054617,
+            10.668889550766865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982989
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1687.0078491042589,
+            367.4959008054617,
+            10.668889550766865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1684.4097728929055,
+            368.9959008054617,
+            10.668889550766865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1681.8116966815521,
+            370.4959008054617,
+            10.668889550766865
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1681.8116966815521,
+            370.4959008054617,
+            7.668889550766865
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1681.8116966815521,
+            370.4959008054617,
+            4.668889550766865
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1681.8116966815521,
+            370.4959008054617,
+            1.668889550766865
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "red",
+        "feature": "arched entrance",
+        "position": [
+            -1621.4332800000002,
+            425.86375,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_2-56-6_2009726312/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_2-56-6_2009726312/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ebc7ffbb4fcef34082712c3a189eb0b26140ace3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_2-56-6_2009726312/pose.jsonl
@@ -0,0 +1,522 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -940.9717031239843,
+            1464.852426383403,
+            2.7790893301858617
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -940.9717031239843,
+            1464.852426383403,
+            5.779089330185862
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -940.9717031239843,
+            1464.852426383403,
+            8.779089330185862
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -940.9717031239843,
+            1464.852426383403,
+            11.779089330185862
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -940.9717031239843,
+            1464.852426383403,
+            14.779089330185862
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -940.9717031239843,
+            1464.852426383403,
+            17.77908933018586
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -940.9717031239843,
+            1464.852426383403,
+            20.77908933018586
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -940.9717031239843,
+            1464.852426383403,
+            23.77908933018586
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -943.9717031239843,
+            1464.852426383403,
+            23.77908933018586
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -946.9717031239843,
+            1464.852426383403,
+            23.77908933018586
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -949.9717031239843,
+            1464.852426383403,
+            23.77908933018586
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -952.9717031239843,
+            1464.852426383403,
+            23.77908933018586
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -955.9717031239843,
+            1464.852426383403,
+            23.77908933018586
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -958.9717031239843,
+            1464.852426383403,
+            23.77908933018586
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -961.9717031239843,
+            1464.852426383403,
+            23.77908933018586
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -964.9717031239843,
+            1464.852426383403,
+            23.77908933018586
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -967.9717031239843,
+            1464.852426383403,
+            23.77908933018586
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -967.9717031239843,
+            1464.852426383403,
+            23.77908933018586
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -970.5697793353377,
+            1466.352426383403,
+            23.77908933018586
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -973.167855546691,
+            1467.852426383403,
+            23.77908933018586
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -975.7659317580444,
+            1469.352426383403,
+            23.77908933018586
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -978.3640079693978,
+            1470.852426383403,
+            23.77908933018586
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -978.3640079693978,
+            1470.852426383403,
+            23.77908933018586
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -979.8640079693978,
+            1473.4505025947565,
+            23.77908933018586
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -981.3640079693978,
+            1476.0485788061098,
+            23.77908933018586
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -982.8640079693978,
+            1478.6466550174632,
+            23.77908933018586
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -984.3640079693978,
+            1481.2447312288166,
+            23.77908933018586
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -985.8640079693978,
+            1483.84280744017,
+            23.77908933018586
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -987.3640079693978,
+            1486.4408836515233,
+            23.77908933018586
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -988.8640079693978,
+            1489.0389598628767,
+            23.77908933018586
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -990.3640079693978,
+            1491.63703607423,
+            23.77908933018586
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -991.8640079693978,
+            1494.2351122855835,
+            23.77908933018586
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -991.8640079693978,
+            1494.2351122855835,
+            20.77908933018586
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -991.8640079693978,
+            1494.2351122855835,
+            17.77908933018586
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -991.8640079693978,
+            1494.2351122855835,
+            14.779089330185862
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -991.8640079693978,
+            1494.2351122855835,
+            11.779089330185862
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -991.8640079693978,
+            1494.2351122855835,
+            8.779089330185862
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -991.8640079693978,
+            1494.2351122855835,
+            5.779089330185862
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -991.8640079693978,
+            1494.2351122855835,
+            2.7790893301858617
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "tapered top",
+        "position": [
+            -1025.91867,
+            1511.66875,
+            5.7
+        ],
+        "shape": "rectangular",
+        "dir": "left",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_2-58-47_1877565100/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_2-58-47_1877565100/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2afa377325a16a7fbd3e307d2b4bcc57215b4446
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_2-58-47_1877565100/pose.jsonl
@@ -0,0 +1,314 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -575.9916832671867,
+            1183.950439721817,
+            1.247501807763701
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -575.9916832671867,
+            1183.950439721817,
+            4.247501807763701
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -575.9916832671867,
+            1183.950439721817,
+            7.247501807763701
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -575.9916832671867,
+            1183.950439721817,
+            10.247501807763701
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -575.9916832671867,
+            1183.950439721817,
+            13.247501807763701
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -575.9916832671867,
+            1183.950439721817,
+            16.2475018077637
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -575.9916832671867,
+            1183.950439721817,
+            19.2475018077637
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -575.9916832671867,
+            1183.950439721817,
+            22.2475018077637
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -575.9916832671867,
+            1183.950439721817,
+            25.2475018077637
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -573.3936070558334,
+            1185.450439721817,
+            25.2475018077637
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -570.79553084448,
+            1186.950439721817,
+            25.2475018077637
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -568.1974546331267,
+            1188.450439721817,
+            25.2475018077637
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -565.5993784217733,
+            1189.950439721817,
+            25.2475018077637
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -563.0013022104199,
+            1191.450439721817,
+            25.2475018077637
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -560.4032259990665,
+            1192.950439721817,
+            25.2475018077637
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -560.4032259990665,
+            1192.950439721817,
+            22.2475018077637
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -560.4032259990665,
+            1192.950439721817,
+            19.2475018077637
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -560.4032259990665,
+            1192.950439721817,
+            16.2475018077637
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -560.4032259990665,
+            1192.950439721817,
+            13.247501807763701
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -560.4032259990665,
+            1192.950439721817,
+            10.247501807763701
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -560.4032259990665,
+            1192.950439721817,
+            7.247501807763701
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -560.4032259990665,
+            1192.950439721817,
+            4.247501807763701
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -560.4032259990665,
+            1192.950439721817,
+            1.247501807763701
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "grid of windows",
+        "position": [
+            -492.59358999999995,
+            1226.0632,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_2-9-18_328298285/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_2-9-18_328298285/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..05c34544dc73c77ba01667f6be4adf78f1fdad08
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_2-9-18_328298285/pose.jsonl
@@ -0,0 +1,392 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            647.985459157607,
+            1196.8047981350746,
+            2.9460472315894215
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            647.985459157607,
+            1196.8047981350746,
+            5.9460472315894215
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            647.985459157607,
+            1196.8047981350746,
+            8.946047231589422
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            647.985459157607,
+            1196.8047981350746,
+            11.946047231589422
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            647.985459157607,
+            1196.8047981350746,
+            14.946047231589422
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            647.985459157607,
+            1196.8047981350746,
+            17.94604723158942
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            647.985459157607,
+            1196.8047981350746,
+            20.94604723158942
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            647.985459157607,
+            1196.8047981350746,
+            23.94604723158942
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            647.985459157607,
+            1196.8047981350746,
+            26.94604723158942
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            647.985459157607,
+            1196.8047981350746,
+            29.94604723158942
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            649.485459157607,
+            1194.2067219237213,
+            29.94604723158942
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            650.985459157607,
+            1191.608645712368,
+            29.94604723158942
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            652.485459157607,
+            1189.0105695010145,
+            29.94604723158942
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            653.985459157607,
+            1186.4124932896611,
+            29.94604723158942
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            655.485459157607,
+            1183.8144170783078,
+            29.94604723158942
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            656.985459157607,
+            1181.2163408669544,
+            29.94604723158942
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            656.985459157607,
+            1181.2163408669544,
+            29.94604723158942
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            659.5835353689604,
+            1179.7163408669544,
+            29.94604723158942
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            662.1816115803138,
+            1178.2163408669544,
+            29.94604723158942
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            664.7796877916671,
+            1176.7163408669544,
+            29.94604723158942
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            664.7796877916671,
+            1176.7163408669544,
+            26.94604723158942
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            664.7796877916671,
+            1176.7163408669544,
+            23.94604723158942
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            664.7796877916671,
+            1176.7163408669544,
+            20.94604723158942
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            664.7796877916671,
+            1176.7163408669544,
+            17.94604723158942
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            664.7796877916671,
+            1176.7163408669544,
+            14.946047231589422
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            664.7796877916671,
+            1176.7163408669544,
+            11.946047231589422
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            664.7796877916671,
+            1176.7163408669544,
+            8.946047231589422
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            664.7796877916671,
+            1176.7163408669544,
+            5.9460472315894215
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            664.7796877916671,
+            1176.7163408669544,
+            2.9460472315894215
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "tall with many windows",
+        "position": [
+            706.2265600000001,
+            1129.5868799999998,
+            0.7
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_3-20-57_70788355/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_3-20-57_70788355/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..523e940754178b076912567ded6b2c8f0cd6a583
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_3-20-57_70788355/pose.jsonl
@@ -0,0 +1,327 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1760.089121309779,
+            1952.3654093498035,
+            1.5556302204032306
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1760.089121309779,
+            1952.3654093498035,
+            4.555630220403231
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1760.089121309779,
+            1952.3654093498035,
+            7.555630220403231
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1760.089121309779,
+            1952.3654093498035,
+            10.55563022040323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1757.089121309779,
+            1952.3654093498035,
+            10.55563022040323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1754.089121309779,
+            1952.3654093498035,
+            10.55563022040323
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1754.089121309779,
+            1952.3654093498035,
+            10.55563022040323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1751.4910450984257,
+            1950.8654093498035,
+            10.55563022040323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1748.8929688870724,
+            1949.3654093498035,
+            10.55563022040323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1746.294892675719,
+            1947.8654093498035,
+            10.55563022040323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1743.6968164643656,
+            1946.3654093498035,
+            10.55563022040323
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1743.6968164643656,
+            1946.3654093498035,
+            10.55563022040323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1742.1968164643656,
+            1943.76733313845,
+            10.55563022040323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1740.6968164643656,
+            1941.1692569270967,
+            10.55563022040323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1739.1968164643656,
+            1938.5711807157434,
+            10.55563022040323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1737.6968164643656,
+            1935.97310450439,
+            10.55563022040323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1736.1968164643656,
+            1933.3750282930366,
+            10.55563022040323
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1736.1968164643656,
+            1933.3750282930366,
+            10.55563022040323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1736.1968164643656,
+            1930.3750282930366,
+            10.55563022040323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1736.1968164643656,
+            1927.3750282930366,
+            10.55563022040323
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1736.1968164643656,
+            1924.3750282930366,
+            10.55563022040323
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1736.1968164643656,
+            1924.3750282930366,
+            7.555630220403231
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1736.1968164643656,
+            1924.3750282930366,
+            4.555630220403231
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1736.1968164643656,
+            1924.3750282930366,
+            1.5556302204032306
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "arched windows",
+        "position": [
+            -1710.65469,
+            1885.36797,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "left",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_3-32-22_1369356620/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_3-32-22_1369356620/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cf8426c65dfda8e4a5a5b85d078a3a1b77642e94
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_3-32-22_1369356620/pose.jsonl
@@ -0,0 +1,197 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -256.9097856015664,
+            1187.712230205638,
+            1.762711279855992
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -256.9097856015664,
+            1187.712230205638,
+            4.762711279855992
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -256.9097856015664,
+            1187.712230205638,
+            7.762711279855992
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -256.9097856015664,
+            1187.712230205638,
+            10.762711279855992
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -256.9097856015664,
+            1187.712230205638,
+            13.762711279855992
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -256.9097856015664,
+            1187.712230205638,
+            16.762711279855992
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -255.4097856015664,
+            1190.3103064169914,
+            16.762711279855992
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -253.9097856015664,
+            1192.9083826283447,
+            16.762711279855992
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -252.4097856015664,
+            1195.506458839698,
+            16.762711279855992
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -252.4097856015664,
+            1195.506458839698,
+            13.762711279855992
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -252.4097856015664,
+            1195.506458839698,
+            10.762711279855992
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -252.4097856015664,
+            1195.506458839698,
+            7.762711279855992
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -252.4097856015664,
+            1195.506458839698,
+            4.762711279855992
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -252.4097856015664,
+            1195.506458839698,
+            1.762711279855992
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "classical architectural elements",
+        "position": [
+            -219.65908,
+            1249.20938,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_3-39-59_1232056856/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_3-39-59_1232056856/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..47a84e59e93e4cec805d3172372e0e97ad6e5419
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_3-39-59_1232056856/pose.jsonl
@@ -0,0 +1,236 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1771.2350417250766,
+            1180.4321731653781,
+            2.8870966180380577
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1771.2350417250766,
+            1180.4321731653781,
+            5.887096618038058
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1771.2350417250766,
+            1180.4321731653781,
+            8.887096618038058
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1771.2350417250766,
+            1183.4321731653781,
+            8.887096618038058
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1771.2350417250766,
+            1186.4321731653781,
+            8.887096618038058
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1771.2350417250766,
+            1186.4321731653781,
+            8.887096618038058
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1769.7350417250766,
+            1189.0302493767315,
+            8.887096618038058
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1768.2350417250766,
+            1191.6283255880849,
+            8.887096618038058
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1768.2350417250766,
+            1191.6283255880849,
+            8.887096618038058
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1768.2350417250766,
+            1191.6283255880849,
+            8.887096618038058
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 9.547918011776346e-15
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1765.2350417250766,
+            1191.6283255880849,
+            8.887096618038058
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1762.2350417250766,
+            1191.6283255880849,
+            8.887096618038058
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1759.2350417250766,
+            1191.6283255880849,
+            8.887096618038058
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1756.2350417250766,
+            1191.6283255880849,
+            8.887096618038058
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1753.2350417250766,
+            1191.6283255880849,
+            8.887096618038058
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1753.2350417250766,
+            1191.6283255880849,
+            5.887096618038058
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1753.2350417250766,
+            1191.6283255880849,
+            2.8870966180380577
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "many windows",
+        "position": [
+            -1692.8259400000002,
+            1235.83469,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "left",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_3-39-6_1541027284/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_3-39-6_1541027284/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..34fb0d8989e94125ae169ee209d5ef0b37a2b12d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_3-39-6_1541027284/pose.jsonl
@@ -0,0 +1,275 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1260.1470079714404,
+            -738.1328071889736,
+            1.2954454796385804
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1260.1470079714404,
+            -738.1328071889736,
+            4.29544547963858
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1260.1470079714404,
+            -738.1328071889736,
+            7.29544547963858
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1260.1470079714404,
+            -738.1328071889736,
+            10.29544547963858
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1260.1470079714404,
+            -738.1328071889736,
+            13.29544547963858
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1261.6470079714404,
+            -735.5347309776203,
+            13.29544547963858
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1263.1470079714404,
+            -732.9366547662669,
+            13.29544547963858
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1264.6470079714404,
+            -730.3385785549135,
+            13.29544547963858
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1266.1470079714404,
+            -727.7405023435601,
+            13.29544547963858
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1267.6470079714404,
+            -725.1424261322068,
+            13.29544547963858
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1269.1470079714404,
+            -722.5443499208534,
+            13.29544547963858
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1269.1470079714404,
+            -722.5443499208534,
+            13.29544547963858
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1269.1470079714404,
+            -719.5443499208534,
+            13.29544547963858
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1269.1470079714404,
+            -716.5443499208534,
+            13.29544547963858
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1269.1470079714404,
+            -713.5443499208534,
+            13.29544547963858
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1269.1470079714404,
+            -710.5443499208534,
+            13.29544547963858
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1269.1470079714404,
+            -710.5443499208534,
+            10.29544547963858
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1269.1470079714404,
+            -710.5443499208534,
+            7.29544547963858
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1269.1470079714404,
+            -710.5443499208534,
+            4.29544547963858
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1269.1470079714404,
+            -710.5443499208534,
+            1.2954454796385804
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "elevated structure with large windows",
+        "position": [
+            1276.03344,
+            -677.20812,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_3-6-8_1297893529/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_3-6-8_1297893529/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6d83183ba634bdde9205525b746ff67d27204f66
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_3-6-8_1297893529/pose.jsonl
@@ -0,0 +1,184 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1724.9116926502095,
+            156.34963108958897,
+            1.5625778158534835
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1724.9116926502095,
+            156.34963108958897,
+            4.5625778158534835
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1724.9116926502095,
+            156.34963108958897,
+            7.5625778158534835
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1724.9116926502095,
+            156.34963108958897,
+            10.562577815853484
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1724.9116926502095,
+            156.34963108958897,
+            13.562577815853484
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1723.4116926502095,
+            158.94770730094228,
+            13.562577815853484
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1721.9116926502095,
+            161.5457835122956,
+            13.562577815853484
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1720.4116926502095,
+            164.14385972364892,
+            13.562577815853484
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1718.9116926502095,
+            166.74193593500223,
+            13.562577815853484
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1718.9116926502095,
+            166.74193593500223,
+            10.562577815853484
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1718.9116926502095,
+            166.74193593500223,
+            7.5625778158534835
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1718.9116926502095,
+            166.74193593500223,
+            4.5625778158534835
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1718.9116926502095,
+            166.74193593500223,
+            1.5625778158534835
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "modern design",
+        "position": [
+            1689.28969,
+            212.68886999999998,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_3-7-39_358532290/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_3-7-39_358532290/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b7eb89c8950d6a6b278bd241c19333d1429f5f2b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_3-7-39_358532290/pose.jsonl
@@ -0,0 +1,327 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1766.035790563474,
+            438.303847043875,
+            2.22931388451266
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1766.035790563474,
+            438.303847043875,
+            5.22931388451266
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1766.035790563474,
+            438.303847043875,
+            8.22931388451266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1764.535790563474,
+            440.9019232552283,
+            8.22931388451266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1763.035790563474,
+            443.49999946658164,
+            8.22931388451266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1761.535790563474,
+            446.09807567793496,
+            8.22931388451266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1760.035790563474,
+            448.6961518892883,
+            8.22931388451266
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1760.035790563474,
+            448.6961518892883,
+            8.22931388451266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1760.035790563474,
+            451.6961518892883,
+            8.22931388451266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1760.035790563474,
+            454.6961518892883,
+            8.22931388451266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1760.035790563474,
+            457.6961518892883,
+            8.22931388451266
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1760.035790563474,
+            457.6961518892883,
+            8.22931388451266
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1760.035790563474,
+            457.6961518892883,
+            8.22931388451266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982989
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1757.4377143521206,
+            459.1961518892883,
+            8.22931388451266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1754.8396381407672,
+            460.6961518892883,
+            8.22931388451266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1752.2415619294138,
+            462.1961518892883,
+            8.22931388451266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1749.6434857180604,
+            463.6961518892883,
+            8.22931388451266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1747.045409506707,
+            465.1961518892883,
+            8.22931388451266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1744.4473332953537,
+            466.6961518892883,
+            8.22931388451266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1741.8492570840003,
+            468.1961518892883,
+            8.22931388451266
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1741.8492570840003,
+            468.1961518892883,
+            8.22931388451266
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1740.3492570840003,
+            470.7942281006416,
+            8.22931388451266
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1740.3492570840003,
+            470.7942281006416,
+            5.22931388451266
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1740.3492570840003,
+            470.7942281006416,
+            2.22931388451266
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "classical architectural elements",
+        "position": [
+            -1716.37141,
+            502.97858999999994,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_4-14-55_1943003493/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_4-14-55_1943003493/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..03876d7479770b62dd751357a3d0bb58115a0a97
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_4-14-55_1943003493/pose.jsonl
@@ -0,0 +1,275 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1458.9122920910343,
+            957.7260301726194,
+            0.6830408910302808
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1458.9122920910343,
+            957.7260301726194,
+            3.6830408910302808
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1458.9122920910343,
+            957.7260301726194,
+            6.683040891030281
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1458.9122920910343,
+            957.7260301726194,
+            9.68304089103028
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1458.9122920910343,
+            957.7260301726194,
+            12.68304089103028
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1458.9122920910343,
+            957.7260301726194,
+            15.68304089103028
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1458.9122920910343,
+            957.7260301726194,
+            18.68304089103028
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1458.9122920910343,
+            957.7260301726194,
+            21.68304089103028
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1458.9122920910343,
+            960.7260301726194,
+            21.68304089103028
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1458.9122920910343,
+            963.7260301726194,
+            21.68304089103028
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1458.9122920910343,
+            966.7260301726194,
+            21.68304089103028
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1458.9122920910343,
+            966.7260301726194,
+            21.68304089103028
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1457.4122920910343,
+            969.3241063839728,
+            21.68304089103028
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1457.4122920910343,
+            969.3241063839728,
+            18.68304089103028
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1457.4122920910343,
+            969.3241063839728,
+            15.68304089103028
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1457.4122920910343,
+            969.3241063839728,
+            12.68304089103028
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1457.4122920910343,
+            969.3241063839728,
+            9.68304089103028
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1457.4122920910343,
+            969.3241063839728,
+            6.683040891030281
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1457.4122920910343,
+            969.3241063839728,
+            3.6830408910302808
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1457.4122920910343,
+            969.3241063839728,
+            0.6830408910302808
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "ornate detailing",
+        "position": [
+            1444.08062,
+            1025.96742,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_4-2-57_1930772757/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_4-2-57_1930772757/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7019a82b2d8c26d30425d5f7f59dab3e47ed61dd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_4-2-57_1930772757/pose.jsonl
@@ -0,0 +1,431 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1112.6365717560352,
+            1695.4037436676542,
+            1.6889867543072725
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1112.6365717560352,
+            1695.4037436676542,
+            4.6889867543072725
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1112.6365717560352,
+            1695.4037436676542,
+            7.6889867543072725
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1112.6365717560352,
+            1695.4037436676542,
+            10.688986754307273
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1112.6365717560352,
+            1695.4037436676542,
+            13.688986754307273
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1112.6365717560352,
+            1695.4037436676542,
+            16.688986754307273
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1112.6365717560352,
+            1695.4037436676542,
+            19.688986754307273
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1112.6365717560352,
+            1695.4037436676542,
+            22.688986754307273
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1112.6365717560352,
+            1698.4037436676542,
+            22.688986754307273
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1112.6365717560352,
+            1701.4037436676542,
+            22.688986754307273
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1112.6365717560352,
+            1704.4037436676542,
+            22.688986754307273
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1112.6365717560352,
+            1707.4037436676542,
+            22.688986754307273
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1112.6365717560352,
+            1710.4037436676542,
+            22.688986754307273
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1112.6365717560352,
+            1713.4037436676542,
+            22.688986754307273
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1112.6365717560352,
+            1716.4037436676542,
+            22.688986754307273
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1112.6365717560352,
+            1719.4037436676542,
+            22.688986754307273
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1112.6365717560352,
+            1719.4037436676542,
+            22.688986754307273
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1114.1365717560352,
+            1722.0018198790076,
+            22.688986754307273
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1115.6365717560352,
+            1724.599896090361,
+            22.688986754307273
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1117.1365717560352,
+            1727.1979723017143,
+            22.688986754307273
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1118.6365717560352,
+            1729.7960485130677,
+            22.688986754307273
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1120.1365717560352,
+            1732.394124724421,
+            22.688986754307273
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1121.6365717560352,
+            1734.9922009357745,
+            22.688986754307273
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1123.1365717560352,
+            1737.5902771471278,
+            22.688986754307273
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1124.6365717560352,
+            1740.1883533584812,
+            22.688986754307273
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1124.6365717560352,
+            1740.1883533584812,
+            19.688986754307273
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1124.6365717560352,
+            1740.1883533584812,
+            16.688986754307273
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1124.6365717560352,
+            1740.1883533584812,
+            13.688986754307273
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1124.6365717560352,
+            1740.1883533584812,
+            10.688986754307273
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1124.6365717560352,
+            1740.1883533584812,
+            7.6889867543072725
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1124.6365717560352,
+            1740.1883533584812,
+            4.6889867543072725
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1124.6365717560352,
+            1740.1883533584812,
+            1.6889867543072725
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "arched windows",
+        "position": [
+            -1131.98656,
+            1760.96562,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_4-49-25_738393740/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_4-49-25_738393740/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..db181aaa9b3a0d393b416a4b27daceedda344c60
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_4-49-25_738393740/pose.jsonl
@@ -0,0 +1,301 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1466.1888312467254,
+            1347.963304948496,
+            0.3637803902309926
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1466.1888312467254,
+            1347.963304948496,
+            3.3637803902309926
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1466.1888312467254,
+            1347.963304948496,
+            6.363780390230993
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1466.1888312467254,
+            1347.963304948496,
+            9.363780390230993
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1466.1888312467254,
+            1347.963304948496,
+            12.363780390230993
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1466.1888312467254,
+            1347.963304948496,
+            15.363780390230993
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1464.6888312467254,
+            1350.5613811598494,
+            15.363780390230993
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1463.1888312467254,
+            1353.1594573712027,
+            15.363780390230993
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1461.6888312467254,
+            1355.757533582556,
+            15.363780390230993
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1460.1888312467254,
+            1358.3556097939095,
+            15.363780390230993
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1458.6888312467254,
+            1360.9536860052629,
+            15.363780390230993
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1457.1888312467254,
+            1363.5517622166162,
+            15.363780390230993
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1457.1888312467254,
+            1363.5517622166162,
+            15.363780390230993
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1457.1888312467254,
+            1366.5517622166162,
+            15.363780390230993
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1457.1888312467254,
+            1369.5517622166162,
+            15.363780390230993
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1457.1888312467254,
+            1372.5517622166162,
+            15.363780390230993
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1457.1888312467254,
+            1375.5517622166162,
+            15.363780390230993
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1457.1888312467254,
+            1375.5517622166162,
+            12.363780390230993
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1457.1888312467254,
+            1375.5517622166162,
+            9.363780390230993
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1457.1888312467254,
+            1375.5517622166162,
+            6.363780390230993
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1457.1888312467254,
+            1375.5517622166162,
+            3.3637803902309926
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1457.1888312467254,
+            1375.5517622166162,
+            0.3637803902309926
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "beige",
+        "feature": "classical architectural elements",
+        "position": [
+            -1435.70734,
+            1438.0525,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_4-50-25_19485054/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_4-50-25_19485054/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1635768f24c0112e0beab949647a84fffe51d9d9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_4-50-25_19485054/pose.jsonl
@@ -0,0 +1,145 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            313.2203806664613,
+            1183.2674960441664,
+            2.8106448485275592
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            313.2203806664613,
+            1183.2674960441664,
+            5.810644848527559
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            313.2203806664613,
+            1183.2674960441664,
+            8.81064484852756
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            316.2203806664613,
+            1183.2674960441664,
+            8.81064484852756
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            316.2203806664613,
+            1183.2674960441664,
+            8.81064484852756
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            316.2203806664613,
+            1183.2674960441664,
+            8.81064484852756
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            316.2203806664613,
+            1183.2674960441664,
+            8.81064484852756
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            316.2203806664613,
+            1180.2674960441664,
+            8.81064484852756
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            316.2203806664613,
+            1180.2674960441664,
+            5.810644848527559
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            316.2203806664613,
+            1180.2674960441664,
+            2.8106448485275592
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "arched windows",
+        "position": [
+            339.86352,
+            1123.7426600000001,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_4-53-2_1655035325/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_4-53-2_1655035325/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5333ff619e873adf8c5082aa8464733b85f73fa6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_4-53-2_1655035325/pose.jsonl
@@ -0,0 +1,392 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -866.628071387133,
+            1184.4265432826573,
+            2.402881372894896
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -866.628071387133,
+            1184.4265432826573,
+            5.402881372894896
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -866.628071387133,
+            1184.4265432826573,
+            8.402881372894896
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -866.628071387133,
+            1184.4265432826573,
+            11.402881372894896
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -866.628071387133,
+            1184.4265432826573,
+            14.402881372894896
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -866.628071387133,
+            1184.4265432826573,
+            17.402881372894896
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -866.628071387133,
+            1184.4265432826573,
+            20.402881372894896
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -866.628071387133,
+            1184.4265432826573,
+            23.402881372894896
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -866.628071387133,
+            1184.4265432826573,
+            26.402881372894896
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -866.628071387133,
+            1184.4265432826573,
+            29.402881372894896
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -864.0299951757797,
+            1185.9265432826573,
+            29.402881372894896
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -861.4319189644264,
+            1187.4265432826573,
+            29.402881372894896
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -858.833842753073,
+            1188.9265432826573,
+            29.402881372894896
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -856.2357665417196,
+            1190.4265432826573,
+            29.402881372894896
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -853.6376903303662,
+            1191.9265432826573,
+            29.402881372894896
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -851.0396141190129,
+            1193.4265432826573,
+            29.402881372894896
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -848.4415379076595,
+            1194.9265432826573,
+            29.402881372894896
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -845.8434616963061,
+            1196.4265432826573,
+            29.402881372894896
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -843.2453854849527,
+            1197.9265432826573,
+            29.402881372894896
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -840.6473092735994,
+            1199.4265432826573,
+            29.402881372894896
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -840.6473092735994,
+            1199.4265432826573,
+            26.402881372894896
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -840.6473092735994,
+            1199.4265432826573,
+            23.402881372894896
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -840.6473092735994,
+            1199.4265432826573,
+            20.402881372894896
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -840.6473092735994,
+            1199.4265432826573,
+            17.402881372894896
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -840.6473092735994,
+            1199.4265432826573,
+            14.402881372894896
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -840.6473092735994,
+            1199.4265432826573,
+            11.402881372894896
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -840.6473092735994,
+            1199.4265432826573,
+            8.402881372894896
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -840.6473092735994,
+            1199.4265432826573,
+            5.402881372894896
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -840.6473092735994,
+            1199.4265432826573,
+            2.402881372894896
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "glass windows",
+        "position": [
+            -800.52586,
+            1225.18375,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_5-14-37_1543324176/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_5-14-37_1543324176/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7bf219d5534d460f1f57b5627e692cbfa0a25ef1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_5-14-37_1543324176/pose.jsonl
@@ -0,0 +1,353 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1633.759310732721,
+            642.9239347437197,
+            1.8998342712005307
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1633.759310732721,
+            642.9239347437197,
+            4.899834271200531
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1633.759310732721,
+            642.9239347437197,
+            7.899834271200531
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1633.759310732721,
+            642.9239347437197,
+            10.89983427120053
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1633.759310732721,
+            642.9239347437197,
+            13.89983427120053
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1636.3573869440743,
+            641.4239347437197,
+            13.89983427120053
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1638.9554631554277,
+            639.9239347437197,
+            13.89983427120053
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1641.553539366781,
+            638.4239347437197,
+            13.89983427120053
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1644.1516155781344,
+            636.9239347437197,
+            13.89983427120053
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1646.7496917894878,
+            635.4239347437197,
+            13.89983427120053
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1649.3477680008411,
+            633.9239347437197,
+            13.89983427120053
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1651.9458442121945,
+            632.4239347437197,
+            13.89983427120053
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1654.543920423548,
+            630.9239347437197,
+            13.89983427120053
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1657.1419966349013,
+            629.4239347437197,
+            13.89983427120053
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1659.7400728462546,
+            627.9239347437197,
+            13.89983427120053
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1662.338149057608,
+            626.4239347437197,
+            13.89983427120053
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1664.9362252689614,
+            624.9239347437197,
+            13.89983427120053
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1664.9362252689614,
+            624.9239347437197,
+            13.89983427120053
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1666.4362252689614,
+            622.3258585323663,
+            13.89983427120053
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1667.9362252689614,
+            619.7277823210129,
+            13.89983427120053
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1669.4362252689614,
+            617.1297061096595,
+            13.89983427120053
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1670.9362252689614,
+            614.5316298983062,
+            13.89983427120053
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1670.9362252689614,
+            614.5316298983062,
+            10.89983427120053
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1670.9362252689614,
+            614.5316298983062,
+            7.899834271200531
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1670.9362252689614,
+            614.5316298983062,
+            4.899834271200531
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1670.9362252689614,
+            614.5316298983062,
+            1.8998342712005307
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "beige",
+        "feature": "arched entrance",
+        "position": [
+            -1712.56375,
+            582.6425800000001,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_5-18-37_358984857/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_5-18-37_358984857/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bd9d0989061891ccf8b93129b81aeeb7d1791014
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_5-18-37_358984857/pose.jsonl
@@ -0,0 +1,353 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1660.7328811298569,
+            -81.74325157027408,
+            0.5328978860540126
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1660.7328811298569,
+            -81.74325157027408,
+            3.5328978860540126
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1660.7328811298569,
+            -81.74325157027408,
+            6.532897886054013
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1660.7328811298569,
+            -81.74325157027408,
+            9.532897886054013
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1660.7328811298569,
+            -81.74325157027408,
+            12.532897886054013
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1660.7328811298569,
+            -81.74325157027408,
+            15.532897886054013
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1660.7328811298569,
+            -81.74325157027408,
+            18.532897886054013
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1660.7328811298569,
+            -81.74325157027408,
+            21.532897886054013
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1660.7328811298569,
+            -81.74325157027408,
+            24.532897886054013
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1657.7328811298569,
+            -81.74325157027408,
+            24.532897886054013
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1654.7328811298569,
+            -81.74325157027408,
+            24.532897886054013
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1651.7328811298569,
+            -81.74325157027408,
+            24.532897886054013
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1648.7328811298569,
+            -81.74325157027408,
+            24.532897886054013
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1645.7328811298569,
+            -81.74325157027408,
+            24.532897886054013
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1642.7328811298569,
+            -81.74325157027408,
+            24.532897886054013
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1639.7328811298569,
+            -81.74325157027408,
+            24.532897886054013
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1636.7328811298569,
+            -81.74325157027408,
+            24.532897886054013
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1633.7328811298569,
+            -81.74325157027408,
+            24.532897886054013
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1633.7328811298569,
+            -81.74325157027408,
+            21.532897886054013
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1633.7328811298569,
+            -81.74325157027408,
+            18.532897886054013
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1633.7328811298569,
+            -81.74325157027408,
+            15.532897886054013
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1633.7328811298569,
+            -81.74325157027408,
+            12.532897886054013
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1633.7328811298569,
+            -81.74325157027408,
+            9.532897886054013
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1633.7328811298569,
+            -81.74325157027408,
+            6.532897886054013
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1633.7328811298569,
+            -81.74325157027408,
+            3.5328978860540126
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1633.7328811298569,
+            -81.74325157027408,
+            0.5328978860540126
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "classical architectural elements",
+        "position": [
+            1584.33484,
+            -79.23666,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_5-2-29_628974580/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_5-2-29_628974580/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b29b86852e05c0c659c58c822541776b77667aae
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_5-2-29_628974580/pose.jsonl
@@ -0,0 +1,275 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1376.167972807505,
+            -626.79697611878,
+            0.1081683042106043
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1376.167972807505,
+            -626.79697611878,
+            3.1081683042106043
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1376.167972807505,
+            -626.79697611878,
+            6.108168304210604
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1376.167972807505,
+            -626.79697611878,
+            9.108168304210604
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1376.167972807505,
+            -626.79697611878,
+            12.108168304210604
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1376.167972807505,
+            -626.79697611878,
+            15.108168304210604
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1376.167972807505,
+            -626.79697611878,
+            18.108168304210604
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1376.167972807505,
+            -626.79697611878,
+            21.108168304210604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1374.667972807505,
+            -624.1988999074267,
+            21.108168304210604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1373.167972807505,
+            -621.6008236960733,
+            21.108168304210604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1371.667972807505,
+            -619.00274748472,
+            21.108168304210604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1370.167972807505,
+            -616.4046712733666,
+            21.108168304210604
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1368.667972807505,
+            -613.8065950620132,
+            21.108168304210604
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1368.667972807505,
+            -613.8065950620132,
+            18.108168304210604
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1368.667972807505,
+            -613.8065950620132,
+            15.108168304210604
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1368.667972807505,
+            -613.8065950620132,
+            12.108168304210604
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1368.667972807505,
+            -613.8065950620132,
+            9.108168304210604
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1368.667972807505,
+            -613.8065950620132,
+            6.108168304210604
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1368.667972807505,
+            -613.8065950620132,
+            3.1081683042106043
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1368.667972807505,
+            -613.8065950620132,
+            0.1081683042106043
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "elevated structure",
+        "position": [
+            1323.14141,
+            -560.4823,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_5-32-10_1965421244/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_5-32-10_1965421244/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d56973fdefa7c255fd6d427d2b00512bdfc38a63
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_5-32-10_1965421244/pose.jsonl
@@ -0,0 +1,288 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            217.95873069964347,
+            1180.5289032779003,
+            2.7691543198524364
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            217.95873069964347,
+            1180.5289032779003,
+            5.769154319852436
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            217.95873069964347,
+            1180.5289032779003,
+            8.769154319852436
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            217.95873069964347,
+            1180.5289032779003,
+            11.769154319852436
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            217.95873069964347,
+            1180.5289032779003,
+            14.769154319852436
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            217.95873069964347,
+            1180.5289032779003,
+            17.769154319852436
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            217.95873069964347,
+            1180.5289032779003,
+            20.769154319852436
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            217.95873069964347,
+            1180.5289032779003,
+            23.769154319852436
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            217.95873069964347,
+            1180.5289032779003,
+            26.769154319852436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            219.45873069964347,
+            1177.930827066547,
+            26.769154319852436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            220.95873069964347,
+            1175.3327508551936,
+            26.769154319852436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            222.45873069964347,
+            1172.7346746438402,
+            26.769154319852436
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            223.95873069964347,
+            1170.1365984324868,
+            26.769154319852436
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            223.95873069964347,
+            1170.1365984324868,
+            23.769154319852436
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            223.95873069964347,
+            1170.1365984324868,
+            20.769154319852436
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            223.95873069964347,
+            1170.1365984324868,
+            17.769154319852436
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            223.95873069964347,
+            1170.1365984324868,
+            14.769154319852436
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            223.95873069964347,
+            1170.1365984324868,
+            11.769154319852436
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            223.95873069964347,
+            1170.1365984324868,
+            8.769154319852436
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            223.95873069964347,
+            1170.1365984324868,
+            5.769154319852436
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            223.95873069964347,
+            1170.1365984324868,
+            2.7691543198524364
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "ornate facade",
+        "position": [
+            252.03169999999997,
+            1109.10594,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_5-35-5_151519934/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_5-35-5_151519934/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a2a18b95c74c6dc6b07e28787b4fd49b7a9c97d9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_5-35-5_151519934/pose.jsonl
@@ -0,0 +1,301 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1433.2330346269828,
+            665.0267392743605,
+            0.7085939128248171
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1433.2330346269828,
+            665.0267392743605,
+            3.708593912824817
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1433.2330346269828,
+            665.0267392743605,
+            6.708593912824817
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1433.2330346269828,
+            665.0267392743605,
+            9.708593912824817
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1433.2330346269828,
+            665.0267392743605,
+            12.708593912824817
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1433.2330346269828,
+            665.0267392743605,
+            15.708593912824817
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1433.2330346269828,
+            665.0267392743605,
+            18.708593912824817
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1435.8311108383361,
+            666.5267392743605,
+            18.708593912824817
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1438.4291870496895,
+            668.0267392743605,
+            18.708593912824817
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1441.027263261043,
+            669.5267392743605,
+            18.708593912824817
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1443.6253394723963,
+            671.0267392743605,
+            18.708593912824817
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1443.6253394723963,
+            671.0267392743605,
+            18.708593912824817
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1446.6253394723963,
+            671.0267392743605,
+            18.708593912824817
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1449.6253394723963,
+            671.0267392743605,
+            18.708593912824817
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1452.6253394723963,
+            671.0267392743605,
+            18.708593912824817
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1455.6253394723963,
+            671.0267392743605,
+            18.708593912824817
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1455.6253394723963,
+            671.0267392743605,
+            15.708593912824817
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1455.6253394723963,
+            671.0267392743605,
+            12.708593912824817
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1455.6253394723963,
+            671.0267392743605,
+            9.708593912824817
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1455.6253394723963,
+            671.0267392743605,
+            6.708593912824817
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1455.6253394723963,
+            671.0267392743605,
+            3.708593912824817
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1455.6253394723963,
+            671.0267392743605,
+            0.7085939128248171
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "beige",
+        "feature": "classical architectural elements",
+        "position": [
+            -1505.5234400000002,
+            685.8682799999999,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_5-36-29_1066077375/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_5-36-29_1066077375/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0f20ce87d879962d6553ad4843bf1660e3334401
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_5-36-29_1066077375/pose.jsonl
@@ -0,0 +1,184 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -461.338046162358,
+            1307.0113441684807,
+            2.853769574069524
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -461.338046162358,
+            1307.0113441684807,
+            5.853769574069524
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -461.338046162358,
+            1307.0113441684807,
+            8.853769574069524
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -461.338046162358,
+            1307.0113441684807,
+            11.853769574069524
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -461.338046162358,
+            1307.0113441684807,
+            14.853769574069524
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -461.338046162358,
+            1307.0113441684807,
+            17.853769574069524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -464.338046162358,
+            1307.0113441684807,
+            17.853769574069524
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -467.338046162358,
+            1307.0113441684807,
+            17.853769574069524
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -467.338046162358,
+            1307.0113441684807,
+            14.853769574069524
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -467.338046162358,
+            1307.0113441684807,
+            11.853769574069524
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -467.338046162358,
+            1307.0113441684807,
+            8.853769574069524
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -467.338046162358,
+            1307.0113441684807,
+            5.853769574069524
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -467.338046162358,
+            1307.0113441684807,
+            2.853769574069524
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "beige",
+        "feature": "open central courtyard",
+        "position": [
+            -549.66723,
+            1314.21703,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_5-5-10_1931513970/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_5-5-10_1931513970/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..38eb41a9eab57e0d65b1923ee7e076598a824aaa
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_5-5-10_1931513970/pose.jsonl
@@ -0,0 +1,262 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            124.39675903059543,
+            1195.8351453086173,
+            1.4465542354375849
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            124.39675903059543,
+            1195.8351453086173,
+            4.446554235437585
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            124.39675903059543,
+            1195.8351453086173,
+            7.446554235437585
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            124.39675903059543,
+            1195.8351453086173,
+            10.446554235437585
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            124.39675903059543,
+            1195.8351453086173,
+            13.446554235437585
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            124.39675903059543,
+            1195.8351453086173,
+            16.446554235437585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            124.39675903059543,
+            1198.8351453086173,
+            16.446554235437585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            124.39675903059543,
+            1201.8351453086173,
+            16.446554235437585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            124.39675903059543,
+            1204.8351453086173,
+            16.446554235437585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            124.39675903059543,
+            1207.8351453086173,
+            16.446554235437585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            124.39675903059543,
+            1210.8351453086173,
+            16.446554235437585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            124.39675903059543,
+            1213.8351453086173,
+            16.446554235437585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            124.39675903059543,
+            1216.8351453086173,
+            16.446554235437585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            124.39675903059543,
+            1219.8351453086173,
+            16.446554235437585
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            124.39675903059543,
+            1219.8351453086173,
+            13.446554235437585
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            124.39675903059543,
+            1219.8351453086173,
+            10.446554235437585
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            124.39675903059543,
+            1219.8351453086173,
+            7.446554235437585
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            124.39675903059543,
+            1219.8351453086173,
+            4.446554235437585
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            124.39675903059543,
+            1219.8351453086173,
+            1.4465542354375849
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "classical architectural elements",
+        "position": [
+            133.39361,
+            1280.1354700000002,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_5-57-24_431530126/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_5-57-24_431530126/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d00983e4ed219e4c1e9200cdab3d451d40b9b001
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_5-57-24_431530126/pose.jsonl
@@ -0,0 +1,184 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            699.0513486996987,
+            199.89823574107263,
+            0.5933216952218654
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            699.0513486996987,
+            199.89823574107263,
+            3.5933216952218654
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            699.0513486996987,
+            199.89823574107263,
+            6.593321695221865
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            699.0513486996987,
+            199.89823574107263,
+            9.593321695221865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            696.4532724883454,
+            198.39823574107263,
+            9.593321695221865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            693.855196276992,
+            196.89823574107263,
+            9.593321695221865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            691.2571200656387,
+            195.39823574107263,
+            9.593321695221865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            688.6590438542853,
+            193.89823574107263,
+            9.593321695221865
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            688.6590438542853,
+            193.89823574107263,
+            9.593321695221865
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            687.1590438542853,
+            191.3001595297193,
+            9.593321695221865
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            687.1590438542853,
+            191.3001595297193,
+            6.593321695221865
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            687.1590438542853,
+            191.3001595297193,
+            3.5933216952218654
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            687.1590438542853,
+            191.3001595297193,
+            0.5933216952218654
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "tall with many windows",
+        "position": [
+            649.1123,
+            159.69299,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "right",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_5-58-0_1421186593/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_5-58-0_1421186593/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..49fe1d0305f9e889fc3777c178454804e8082566
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_5-58-0_1421186593/pose.jsonl
@@ -0,0 +1,236 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -973.49501996069,
+            1051.2775226439232,
+            2.9826337966905463
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -973.49501996069,
+            1051.2775226439232,
+            5.982633796690546
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -973.49501996069,
+            1051.2775226439232,
+            8.982633796690546
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -973.49501996069,
+            1051.2775226439232,
+            11.982633796690546
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -973.49501996069,
+            1051.2775226439232,
+            14.982633796690546
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -973.49501996069,
+            1051.2775226439232,
+            17.982633796690546
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -971.99501996069,
+            1048.6794464325699,
+            17.982633796690546
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -970.49501996069,
+            1046.0813702212165,
+            17.982633796690546
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -968.99501996069,
+            1043.4832940098631,
+            17.982633796690546
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -967.49501996069,
+            1040.8852177985098,
+            17.982633796690546
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -965.99501996069,
+            1038.2871415871564,
+            17.982633796690546
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -964.49501996069,
+            1035.689065375803,
+            17.982633796690546
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -964.49501996069,
+            1035.689065375803,
+            14.982633796690546
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -964.49501996069,
+            1035.689065375803,
+            11.982633796690546
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -964.49501996069,
+            1035.689065375803,
+            8.982633796690546
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -964.49501996069,
+            1035.689065375803,
+            5.982633796690546
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -964.49501996069,
+            1035.689065375803,
+            2.9826337966905463
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "red",
+        "feature": "ornate facade",
+        "position": [
+            -945.56484,
+            997.2371099999999,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_5-6-25_1021784812/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_5-6-25_1021784812/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0657e3ebca38491566e62ceae23a8adb2466847a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_5-6-25_1021784812/pose.jsonl
@@ -0,0 +1,132 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -374.92990880243696,
+            1644.7155226032312,
+            0.670888377488037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -374.92990880243696,
+            1644.7155226032312,
+            3.670888377488037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -374.92990880243696,
+            1644.7155226032312,
+            6.670888377488037
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -374.92990880243696,
+            1644.7155226032312,
+            9.670888377488037
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -377.52798501379027,
+            1646.2155226032312,
+            9.670888377488037
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -380.1260612251436,
+            1647.7155226032312,
+            9.670888377488037
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -380.1260612251436,
+            1647.7155226032312,
+            6.670888377488037
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -380.1260612251436,
+            1647.7155226032312,
+            3.670888377488037
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -380.1260612251436,
+            1647.7155226032312,
+            0.670888377488037
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "ornate detailing",
+        "position": [
+            -441.79066,
+            1680.51312,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_6-13-6_114760235/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_6-13-6_114760235/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..66710784f470e765ae9483b32b465135c3bef20d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_6-13-6_114760235/pose.jsonl
@@ -0,0 +1,314 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1468.4757900809323,
+            796.7096956790567,
+            1.3309243169115845
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1468.4757900809323,
+            796.7096956790567,
+            4.3309243169115845
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1468.4757900809323,
+            796.7096956790567,
+            7.3309243169115845
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1468.4757900809323,
+            796.7096956790567,
+            10.330924316911585
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1468.4757900809323,
+            796.7096956790567,
+            13.330924316911585
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1468.4757900809323,
+            796.7096956790567,
+            16.330924316911585
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1468.4757900809323,
+            796.7096956790567,
+            19.330924316911585
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1468.4757900809323,
+            796.7096956790567,
+            22.330924316911585
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1468.4757900809323,
+            796.7096956790567,
+            25.330924316911585
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1468.4757900809323,
+            796.7096956790567,
+            28.330924316911585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1465.4757900809323,
+            796.7096956790567,
+            28.330924316911585
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1465.4757900809323,
+            796.7096956790567,
+            28.330924316911585
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1465.4757900809323,
+            796.7096956790567,
+            28.330924316911585
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1463.9757900809323,
+            799.3077718904101,
+            28.330924316911585
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1463.9757900809323,
+            799.3077718904101,
+            25.330924316911585
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1463.9757900809323,
+            799.3077718904101,
+            22.330924316911585
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1463.9757900809323,
+            799.3077718904101,
+            19.330924316911585
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1463.9757900809323,
+            799.3077718904101,
+            16.330924316911585
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1463.9757900809323,
+            799.3077718904101,
+            13.330924316911585
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1463.9757900809323,
+            799.3077718904101,
+            10.330924316911585
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1463.9757900809323,
+            799.3077718904101,
+            7.3309243169115845
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1463.9757900809323,
+            799.3077718904101,
+            4.3309243169115845
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1463.9757900809323,
+            799.3077718904101,
+            1.3309243169115845
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "aim_landmark": {
+        "color": "beige",
+        "feature": "many windows",
+        "position": [
+            -1385.6609400000002,
+            851.07742,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_6-15-32_524305153/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_6-15-32_524305153/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2b428deb8ed8602d72dc0b78ecdaea9e38c0cfcd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_6-15-32_524305153/pose.jsonl
@@ -0,0 +1,184 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1872.7389694983651,
+            848.6363710591976,
+            2.196359011548635
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1872.7389694983651,
+            848.6363710591976,
+            5.196359011548635
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1872.7389694983651,
+            848.6363710591976,
+            8.196359011548635
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1872.7389694983651,
+            848.6363710591976,
+            11.196359011548635
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1872.7389694983651,
+            848.6363710591976,
+            14.196359011548635
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1872.7389694983651,
+            845.6363710591976,
+            14.196359011548635
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1872.7389694983651,
+            845.6363710591976,
+            14.196359011548635
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1871.2389694983651,
+            843.0382948478443,
+            14.196359011548635
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1869.7389694983651,
+            840.440218636491,
+            14.196359011548635
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1869.7389694983651,
+            840.440218636491,
+            11.196359011548635
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1869.7389694983651,
+            840.440218636491,
+            8.196359011548635
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1869.7389694983651,
+            840.440218636491,
+            5.196359011548635
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1869.7389694983651,
+            840.440218636491,
+            2.196359011548635
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "ornate detailing",
+        "position": [
+            1846.37188,
+            779.86258,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_6-18-28_124666328/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_6-18-28_124666328/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d3d132c035abbf5e477b4b593f4dbb579aee9632
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_6-18-28_124666328/pose.jsonl
@@ -0,0 +1,288 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1679.1276264825938,
+            897.7166493619914,
+            0.7587060299286748
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1679.1276264825938,
+            897.7166493619914,
+            3.7587060299286748
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1679.1276264825938,
+            897.7166493619914,
+            6.758706029928675
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1679.1276264825938,
+            897.7166493619914,
+            9.758706029928675
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1679.1276264825938,
+            897.7166493619914,
+            12.758706029928675
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1679.1276264825938,
+            897.7166493619914,
+            15.758706029928675
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1679.1276264825938,
+            897.7166493619914,
+            18.758706029928675
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1679.1276264825938,
+            897.7166493619914,
+            21.758706029928675
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1679.1276264825938,
+            897.7166493619914,
+            24.758706029928675
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1679.1276264825938,
+            897.7166493619914,
+            27.758706029928675
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1676.5295502712404,
+            899.2166493619914,
+            27.758706029928675
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1673.931474059887,
+            900.7166493619914,
+            27.758706029928675
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1673.931474059887,
+            900.7166493619914,
+            24.758706029928675
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1673.931474059887,
+            900.7166493619914,
+            21.758706029928675
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1673.931474059887,
+            900.7166493619914,
+            18.758706029928675
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1673.931474059887,
+            900.7166493619914,
+            15.758706029928675
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1673.931474059887,
+            900.7166493619914,
+            12.758706029928675
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1673.931474059887,
+            900.7166493619914,
+            9.758706029928675
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1673.931474059887,
+            900.7166493619914,
+            6.758706029928675
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1673.931474059887,
+            900.7166493619914,
+            3.7587060299286748
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1673.931474059887,
+            900.7166493619914,
+            0.7587060299286748
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "tapered top",
+        "position": [
+            -1633.23969,
+            941.13531,
+            5.7
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_6-31-19_1751378130/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_6-31-19_1751378130/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..666c3412ed1d30e8aebac37e8406fd17b6d09cd2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_6-31-19_1751378130/pose.jsonl
@@ -0,0 +1,314 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1817.1350306791937,
+            1892.5554755828587,
+            0.28929373069875197
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1817.1350306791937,
+            1892.5554755828587,
+            3.289293730698752
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1817.1350306791937,
+            1892.5554755828587,
+            6.289293730698752
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1817.1350306791937,
+            1892.5554755828587,
+            9.289293730698752
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1817.1350306791937,
+            1892.5554755828587,
+            12.289293730698752
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1817.1350306791937,
+            1892.5554755828587,
+            15.289293730698752
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1817.1350306791937,
+            1892.5554755828587,
+            18.289293730698752
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1817.1350306791937,
+            1892.5554755828587,
+            21.289293730698752
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1817.1350306791937,
+            1892.5554755828587,
+            24.289293730698752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1819.733106890547,
+            1894.0554755828587,
+            24.289293730698752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1822.3311831019005,
+            1895.5554755828587,
+            24.289293730698752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1824.9292593132539,
+            1897.0554755828587,
+            24.289293730698752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1827.5273355246072,
+            1898.5554755828587,
+            24.289293730698752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1830.1254117359606,
+            1900.0554755828587,
+            24.289293730698752
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1832.723487947314,
+            1901.5554755828587,
+            24.289293730698752
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1832.723487947314,
+            1901.5554755828587,
+            21.289293730698752
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1832.723487947314,
+            1901.5554755828587,
+            18.289293730698752
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1832.723487947314,
+            1901.5554755828587,
+            15.289293730698752
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1832.723487947314,
+            1901.5554755828587,
+            12.289293730698752
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1832.723487947314,
+            1901.5554755828587,
+            9.289293730698752
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1832.723487947314,
+            1901.5554755828587,
+            6.289293730698752
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1832.723487947314,
+            1901.5554755828587,
+            3.289293730698752
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1832.723487947314,
+            1901.5554755828587,
+            0.28929373069875197
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "elevator",
+        "position": [
+            -1884.4734400000002,
+            1932.26016,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_6-33-30_1130698571/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_6-33-30_1130698571/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0ec73ce0dc4d997bb468e1a900f85893e7543edc
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_6-33-30_1130698571/pose.jsonl
@@ -0,0 +1,314 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1678.1024728636555,
+            21.309457078903435,
+            1.989922868056599
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1678.1024728636555,
+            21.309457078903435,
+            4.989922868056599
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1678.1024728636555,
+            21.309457078903435,
+            7.989922868056599
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1678.1024728636555,
+            21.309457078903435,
+            10.989922868056599
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1678.1024728636555,
+            21.309457078903435,
+            13.989922868056599
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1678.1024728636555,
+            21.309457078903435,
+            16.9899228680566
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1678.1024728636555,
+            24.309457078903435,
+            16.9899228680566
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1678.1024728636555,
+            27.309457078903435,
+            16.9899228680566
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1678.1024728636555,
+            30.309457078903435,
+            16.9899228680566
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1678.1024728636555,
+            33.309457078903435,
+            16.9899228680566
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1678.1024728636555,
+            36.309457078903435,
+            16.9899228680566
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1678.1024728636555,
+            39.309457078903435,
+            16.9899228680566
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1678.1024728636555,
+            42.309457078903435,
+            16.9899228680566
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1678.1024728636555,
+            45.309457078903435,
+            16.9899228680566
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1678.1024728636555,
+            48.309457078903435,
+            16.9899228680566
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1678.1024728636555,
+            51.309457078903435,
+            16.9899228680566
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1678.1024728636555,
+            54.309457078903435,
+            16.9899228680566
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1678.1024728636555,
+            57.309457078903435,
+            16.9899228680566
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1678.1024728636555,
+            57.309457078903435,
+            13.989922868056599
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1678.1024728636555,
+            57.309457078903435,
+            10.989922868056599
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1678.1024728636555,
+            57.309457078903435,
+            7.989922868056599
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1678.1024728636555,
+            57.309457078903435,
+            4.989922868056599
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1678.1024728636555,
+            57.309457078903435,
+            1.989922868056599
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "classical architectural elements",
+        "position": [
+            1673.3859400000001,
+            111.62847,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_6-36-30_1566369633/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_6-36-30_1566369633/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a2ea878850c76cd80cad14a93be576fb05d8479a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_6-36-30_1566369633/pose.jsonl
@@ -0,0 +1,236 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            809.1068905090301,
+            -820.7504775543787,
+            0.008611551993970679
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            809.1068905090301,
+            -820.7504775543787,
+            3.0086115519939707
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            809.1068905090301,
+            -820.7504775543787,
+            6.008611551993971
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            809.1068905090301,
+            -820.7504775543787,
+            9.00861155199397
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            809.1068905090301,
+            -820.7504775543787,
+            12.00861155199397
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            807.6068905090301,
+            -818.1524013430253,
+            12.00861155199397
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            806.1068905090301,
+            -815.5543251316719,
+            12.00861155199397
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            804.6068905090301,
+            -812.9562489203186,
+            12.00861155199397
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            803.1068905090301,
+            -810.3581727089652,
+            12.00861155199397
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            801.6068905090301,
+            -807.7600964976118,
+            12.00861155199397
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            800.1068905090301,
+            -805.1620202862584,
+            12.00861155199397
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            798.6068905090301,
+            -802.5639440749051,
+            12.00861155199397
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            797.1068905090301,
+            -799.9658678635517,
+            12.00861155199397
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            797.1068905090301,
+            -799.9658678635517,
+            9.00861155199397
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            797.1068905090301,
+            -799.9658678635517,
+            6.008611551993971
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            797.1068905090301,
+            -799.9658678635517,
+            3.0086115519939707
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            797.1068905090301,
+            -799.9658678635517,
+            0.008611551993970679
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "elevated structure",
+        "position": [
+            768.6051600000001,
+            -747.54625,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_6-42-24_2000419805/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_6-42-24_2000419805/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c7094b163621a720f93dca013b3c23fc920fc772
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_6-42-24_2000419805/pose.jsonl
@@ -0,0 +1,301 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1356.0991010871562,
+            1295.8356799833327,
+            2.4513213524780184
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1356.0991010871562,
+            1295.8356799833327,
+            5.451321352478018
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1356.0991010871562,
+            1295.8356799833327,
+            8.451321352478018
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1356.0991010871562,
+            1295.8356799833327,
+            11.451321352478018
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1356.0991010871562,
+            1295.8356799833327,
+            14.451321352478018
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1356.0991010871562,
+            1295.8356799833327,
+            17.45132135247802
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1356.0991010871562,
+            1295.8356799833327,
+            20.45132135247802
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1353.0991010871562,
+            1295.8356799833327,
+            20.45132135247802
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1350.0991010871562,
+            1295.8356799833327,
+            20.45132135247802
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1347.0991010871562,
+            1295.8356799833327,
+            20.45132135247802
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1344.0991010871562,
+            1295.8356799833327,
+            20.45132135247802
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1341.0991010871562,
+            1295.8356799833327,
+            20.45132135247802
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1338.0991010871562,
+            1295.8356799833327,
+            20.45132135247802
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1335.0991010871562,
+            1295.8356799833327,
+            20.45132135247802
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1335.0991010871562,
+            1295.8356799833327,
+            20.45132135247802
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1332.5010248758028,
+            1297.3356799833327,
+            20.45132135247802
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1332.5010248758028,
+            1297.3356799833327,
+            17.45132135247802
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1332.5010248758028,
+            1297.3356799833327,
+            14.451321352478018
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1332.5010248758028,
+            1297.3356799833327,
+            11.451321352478018
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1332.5010248758028,
+            1297.3356799833327,
+            8.451321352478018
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1332.5010248758028,
+            1297.3356799833327,
+            5.451321352478018
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1332.5010248758028,
+            1297.3356799833327,
+            2.4513213524780184
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "red",
+        "feature": "open sides",
+        "position": [
+            1260.2126600000001,
+            1309.86398,
+            0.0
+        ],
+        "shape": "cuboid",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_6-48-3_746349250/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_6-48-3_746349250/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e67644331487e648617c203448af8ddd262113c6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_6-48-3_746349250/pose.jsonl
@@ -0,0 +1,327 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1148.0330034491335,
+            1733.5321636406265,
+            1.5842247598072987
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1148.0330034491335,
+            1733.5321636406265,
+            4.584224759807299
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1148.0330034491335,
+            1733.5321636406265,
+            7.584224759807299
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1148.0330034491335,
+            1733.5321636406265,
+            10.584224759807299
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1148.0330034491335,
+            1733.5321636406265,
+            13.584224759807299
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1148.0330034491335,
+            1733.5321636406265,
+            16.5842247598073
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1148.0330034491335,
+            1733.5321636406265,
+            19.5842247598073
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1148.0330034491335,
+            1733.5321636406265,
+            22.5842247598073
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1148.0330034491335,
+            1733.5321636406265,
+            25.5842247598073
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1148.0330034491335,
+            1733.5321636406265,
+            28.5842247598073
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1148.0330034491335,
+            1736.5321636406265,
+            28.5842247598073
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1148.0330034491335,
+            1739.5321636406265,
+            28.5842247598073
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1148.0330034491335,
+            1742.5321636406265,
+            28.5842247598073
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1148.0330034491335,
+            1742.5321636406265,
+            28.5842247598073
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1146.5330034491335,
+            1745.13023985198,
+            28.5842247598073
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1146.5330034491335,
+            1745.13023985198,
+            25.5842247598073
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1146.5330034491335,
+            1745.13023985198,
+            22.5842247598073
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1146.5330034491335,
+            1745.13023985198,
+            19.5842247598073
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1146.5330034491335,
+            1745.13023985198,
+            16.5842247598073
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1146.5330034491335,
+            1745.13023985198,
+            13.584224759807299
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1146.5330034491335,
+            1745.13023985198,
+            10.584224759807299
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1146.5330034491335,
+            1745.13023985198,
+            7.584224759807299
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1146.5330034491335,
+            1745.13023985198,
+            4.584224759807299
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1146.5330034491335,
+            1745.13023985198,
+            1.5842247598072987
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "arched windows",
+        "position": [
+            -1131.59375,
+            1804.0515599999999,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_6-9-27_1615935710/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_6-9-27_1615935710/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..171266b7b427b27d42352ea03b7153e64e399823
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_6-9-27_1615935710/pose.jsonl
@@ -0,0 +1,197 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            497.53075248012465,
+            1811.1714537955381,
+            2.4893183868820135
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            497.53075248012465,
+            1811.1714537955381,
+            5.4893183868820135
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            497.53075248012465,
+            1811.1714537955381,
+            8.489318386882013
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            497.53075248012465,
+            1811.1714537955381,
+            11.489318386882013
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            497.53075248012465,
+            1811.1714537955381,
+            14.489318386882013
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            499.03075248012465,
+            1813.7695300068915,
+            14.489318386882013
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            500.53075248012465,
+            1816.3676062182449,
+            14.489318386882013
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            502.03075248012465,
+            1818.9656824295982,
+            14.489318386882013
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            502.03075248012465,
+            1818.9656824295982,
+            14.489318386882013
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            504.62882869147796,
+            1820.4656824295982,
+            14.489318386882013
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            504.62882869147796,
+            1820.4656824295982,
+            11.489318386882013
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            504.62882869147796,
+            1820.4656824295982,
+            8.489318386882013
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            504.62882869147796,
+            1820.4656824295982,
+            5.4893183868820135
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            504.62882869147796,
+            1820.4656824295982,
+            2.4893183868820135
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "aim_landmark": {
+        "color": "Brown",
+        "feature": "Arched windows",
+        "position": [
+            553.11266,
+            1876.91562,
+            0.0
+        ],
+        "shape": "Rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_7-0-42_952062949/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_7-0-42_952062949/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6e73552ca22e8ba495a02edc2fd14ef640475453
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_7-0-42_952062949/pose.jsonl
@@ -0,0 +1,444 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1751.1657619504376,
+            1962.3136561369658,
+            2.6037307940050827
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1751.1657619504376,
+            1962.3136561369658,
+            5.603730794005083
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1751.1657619504376,
+            1962.3136561369658,
+            8.603730794005083
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1751.1657619504376,
+            1962.3136561369658,
+            11.603730794005083
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1751.1657619504376,
+            1962.3136561369658,
+            14.603730794005083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1748.1657619504376,
+            1962.3136561369658,
+            14.603730794005083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1745.1657619504376,
+            1962.3136561369658,
+            14.603730794005083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1742.1657619504376,
+            1962.3136561369658,
+            14.603730794005083
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1742.1657619504376,
+            1962.3136561369658,
+            14.603730794005083
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1742.1657619504376,
+            1962.3136561369658,
+            14.603730794005083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1740.6657619504376,
+            1959.7155799256125,
+            14.603730794005083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1739.1657619504376,
+            1957.117503714259,
+            14.603730794005083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1737.6657619504376,
+            1954.5194275029057,
+            14.603730794005083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1736.1657619504376,
+            1951.9213512915524,
+            14.603730794005083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1734.6657619504376,
+            1949.323275080199,
+            14.603730794005083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1733.1657619504376,
+            1946.7251988688456,
+            14.603730794005083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1731.6657619504376,
+            1944.1271226574922,
+            14.603730794005083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1730.1657619504376,
+            1941.5290464461389,
+            14.603730794005083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1728.6657619504376,
+            1938.9309702347855,
+            14.603730794005083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1727.1657619504376,
+            1936.3328940234321,
+            14.603730794005083
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1727.1657619504376,
+            1936.3328940234321,
+            14.603730794005083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1724.5676857390843,
+            1934.8328940234321,
+            14.603730794005083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1721.9696095277309,
+            1933.3328940234321,
+            14.603730794005083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1719.3715333163775,
+            1931.8328940234321,
+            14.603730794005083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1716.7734571050241,
+            1930.3328940234321,
+            14.603730794005083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1714.1753808936708,
+            1928.8328940234321,
+            14.603730794005083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1711.5773046823174,
+            1927.3328940234321,
+            14.603730794005083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1708.979228470964,
+            1925.8328940234321,
+            14.603730794005083
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1706.3811522596106,
+            1924.3328940234321,
+            14.603730794005083
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1706.3811522596106,
+            1924.3328940234321,
+            11.603730794005083
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1706.3811522596106,
+            1924.3328940234321,
+            8.603730794005083
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1706.3811522596106,
+            1924.3328940234321,
+            5.603730794005083
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1706.3811522596106,
+            1924.3328940234321,
+            2.6037307940050827
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "elevated structure",
+        "position": [
+            -1680.2575,
+            1902.81312,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_7-1-58_577721120/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_7-1-58_577721120/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b527c4a0dad1bf28eec37aaabe4037151a70a13e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_7-1-58_577721120/pose.jsonl
@@ -0,0 +1,275 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            773.6145066309623,
+            1259.6764138216845,
+            1.0432296859176233
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            773.6145066309623,
+            1259.6764138216845,
+            4.043229685917623
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            773.6145066309623,
+            1259.6764138216845,
+            7.043229685917623
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            773.6145066309623,
+            1259.6764138216845,
+            10.043229685917623
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            773.6145066309623,
+            1259.6764138216845,
+            13.043229685917623
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            773.6145066309623,
+            1259.6764138216845,
+            16.043229685917623
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            773.6145066309623,
+            1259.6764138216845,
+            19.043229685917623
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            773.6145066309623,
+            1259.6764138216845,
+            22.043229685917623
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            773.6145066309623,
+            1259.6764138216845,
+            25.043229685917623
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            776.6145066309623,
+            1259.6764138216845,
+            25.043229685917623
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            779.6145066309623,
+            1259.6764138216845,
+            25.043229685917623
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            782.6145066309623,
+            1259.6764138216845,
+            25.043229685917623
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            782.6145066309623,
+            1259.6764138216845,
+            22.043229685917623
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            782.6145066309623,
+            1259.6764138216845,
+            19.043229685917623
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            782.6145066309623,
+            1259.6764138216845,
+            16.043229685917623
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            782.6145066309623,
+            1259.6764138216845,
+            13.043229685917623
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            782.6145066309623,
+            1259.6764138216845,
+            10.043229685917623
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            782.6145066309623,
+            1259.6764138216845,
+            7.043229685917623
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            782.6145066309623,
+            1259.6764138216845,
+            4.043229685917623
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            782.6145066309623,
+            1259.6764138216845,
+            1.0432296859176233
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "arched windows",
+        "position": [
+            862.19625,
+            1255.56055,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_7-14-18_690367770/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_7-14-18_690367770/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..48bd2f74b8abaa73d322424016c0d5526b3b0694
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_7-14-18_690367770/pose.jsonl
@@ -0,0 +1,327 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1393.5962219808048,
+            1446.1323910593997,
+            1.5358252103966095
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1393.5962219808048,
+            1446.1323910593997,
+            4.5358252103966095
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1393.5962219808048,
+            1446.1323910593997,
+            7.5358252103966095
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1393.5962219808048,
+            1446.1323910593997,
+            10.53582521039661
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1393.5962219808048,
+            1446.1323910593997,
+            13.53582521039661
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1393.5962219808048,
+            1446.1323910593997,
+            16.53582521039661
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1393.5962219808048,
+            1446.1323910593997,
+            19.53582521039661
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1393.5962219808048,
+            1446.1323910593997,
+            22.53582521039661
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1393.5962219808048,
+            1446.1323910593997,
+            25.53582521039661
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1392.0962219808048,
+            1448.730467270753,
+            25.53582521039661
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1390.5962219808048,
+            1451.3285434821064,
+            25.53582521039661
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1389.0962219808048,
+            1453.9266196934598,
+            25.53582521039661
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1387.5962219808048,
+            1456.5246959048131,
+            25.53582521039661
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1386.0962219808048,
+            1459.1227721161665,
+            25.53582521039661
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1384.5962219808048,
+            1461.72084832752,
+            25.53582521039661
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1383.0962219808048,
+            1464.3189245388733,
+            25.53582521039661
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1383.0962219808048,
+            1464.3189245388733,
+            22.53582521039661
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1383.0962219808048,
+            1464.3189245388733,
+            19.53582521039661
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1383.0962219808048,
+            1464.3189245388733,
+            16.53582521039661
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1383.0962219808048,
+            1464.3189245388733,
+            13.53582521039661
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1383.0962219808048,
+            1464.3189245388733,
+            10.53582521039661
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1383.0962219808048,
+            1464.3189245388733,
+            7.5358252103966095
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1383.0962219808048,
+            1464.3189245388733,
+            4.5358252103966095
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1383.0962219808048,
+            1464.3189245388733,
+            1.5358252103966095
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "ornate facade",
+        "position": [
+            -1363.50078,
+            1503.40547,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_7-15-18_1434433518/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_7-15-18_1434433518/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e36fdb3d47f294923e22fb20e18bf39c291ccaab
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_7-15-18_1434433518/pose.jsonl
@@ -0,0 +1,275 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1339.3015934914147,
+            140.161755600739,
+            1.3711894387053825
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1339.3015934914147,
+            140.161755600739,
+            4.3711894387053825
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1339.3015934914147,
+            140.161755600739,
+            7.3711894387053825
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1339.3015934914147,
+            140.161755600739,
+            10.371189438705382
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1339.3015934914147,
+            140.161755600739,
+            13.371189438705382
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1339.3015934914147,
+            140.161755600739,
+            16.371189438705382
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1341.899669702768,
+            141.661755600739,
+            16.371189438705382
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1344.4977459141214,
+            143.161755600739,
+            16.371189438705382
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1347.0958221254748,
+            144.661755600739,
+            16.371189438705382
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1349.6938983368282,
+            146.161755600739,
+            16.371189438705382
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1352.2919745481815,
+            147.661755600739,
+            16.371189438705382
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1354.890050759535,
+            149.161755600739,
+            16.371189438705382
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1357.4881269708883,
+            150.661755600739,
+            16.371189438705382
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1360.0862031822417,
+            152.161755600739,
+            16.371189438705382
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1362.684279393595,
+            153.661755600739,
+            16.371189438705382
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1362.684279393595,
+            153.661755600739,
+            13.371189438705382
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1362.684279393595,
+            153.661755600739,
+            10.371189438705382
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1362.684279393595,
+            153.661755600739,
+            7.3711894387053825
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1362.684279393595,
+            153.661755600739,
+            4.3711894387053825
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1362.684279393595,
+            153.661755600739,
+            1.3711894387053825
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "red",
+        "feature": "ornate detailing",
+        "position": [
+            1420.0904699999999,
+            186.10441,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_7-16-58_1821066342/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_7-16-58_1821066342/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..047b1b0a783014975aaed129be616a513708dbb1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_7-16-58_1821066342/pose.jsonl
@@ -0,0 +1,353 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1513.5522694927852,
+            165.37938912909823,
+            1.6898321642281608
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1513.5522694927852,
+            165.37938912909823,
+            4.689832164228161
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1513.5522694927852,
+            165.37938912909823,
+            7.689832164228161
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1513.5522694927852,
+            165.37938912909823,
+            10.68983216422816
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1513.5522694927852,
+            165.37938912909823,
+            13.68983216422816
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1513.5522694927852,
+            165.37938912909823,
+            16.68983216422816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1510.5522694927852,
+            165.37938912909823,
+            16.68983216422816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1507.5522694927852,
+            165.37938912909823,
+            16.68983216422816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1504.5522694927852,
+            165.37938912909823,
+            16.68983216422816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1501.5522694927852,
+            165.37938912909823,
+            16.68983216422816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1498.5522694927852,
+            165.37938912909823,
+            16.68983216422816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1495.5522694927852,
+            165.37938912909823,
+            16.68983216422816
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1495.5522694927852,
+            165.37938912909823,
+            16.68983216422816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1492.9541932814318,
+            163.87938912909823,
+            16.68983216422816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1490.3561170700784,
+            162.37938912909823,
+            16.68983216422816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1487.758040858725,
+            160.87938912909823,
+            16.68983216422816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1485.1599646473717,
+            159.37938912909823,
+            16.68983216422816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1482.5618884360183,
+            157.87938912909823,
+            16.68983216422816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1479.963812224665,
+            156.37938912909823,
+            16.68983216422816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1477.3657360133116,
+            154.87938912909823,
+            16.68983216422816
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1474.7676598019582,
+            153.37938912909823,
+            16.68983216422816
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1474.7676598019582,
+            153.37938912909823,
+            13.68983216422816
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1474.7676598019582,
+            153.37938912909823,
+            10.68983216422816
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1474.7676598019582,
+            153.37938912909823,
+            7.689832164228161
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1474.7676598019582,
+            153.37938912909823,
+            4.689832164228161
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1474.7676598019582,
+            153.37938912909823,
+            1.6898321642281608
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "ornate detailing",
+        "position": [
+            -1444.82766,
+            144.99707,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_7-16-5_1131359211/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_7-16-5_1131359211/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..922a3713d0a44a041129d09870c250f4e314aa24
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_7-16-5_1131359211/pose.jsonl
@@ -0,0 +1,275 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1340.4633353965942,
+            -711.2158271052871,
+            2.0957376447002716
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1340.4633353965942,
+            -711.2158271052871,
+            5.095737644700272
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1340.4633353965942,
+            -711.2158271052871,
+            8.095737644700272
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1340.4633353965942,
+            -711.2158271052871,
+            11.095737644700272
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1340.4633353965942,
+            -711.2158271052871,
+            14.095737644700272
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1340.4633353965942,
+            -711.2158271052871,
+            17.09573764470027
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1340.4633353965942,
+            -711.2158271052871,
+            20.09573764470027
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1340.4633353965942,
+            -711.2158271052871,
+            23.09573764470027
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1340.4633353965942,
+            -711.2158271052871,
+            26.09573764470027
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1338.9633353965942,
+            -708.6177508939338,
+            26.09573764470027
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1337.4633353965942,
+            -706.0196746825804,
+            26.09573764470027
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1335.9633353965942,
+            -703.4215984712271,
+            26.09573764470027
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1335.9633353965942,
+            -703.4215984712271,
+            23.09573764470027
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1335.9633353965942,
+            -703.4215984712271,
+            20.09573764470027
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1335.9633353965942,
+            -703.4215984712271,
+            17.09573764470027
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1335.9633353965942,
+            -703.4215984712271,
+            14.095737644700272
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1335.9633353965942,
+            -703.4215984712271,
+            11.095737644700272
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1335.9633353965942,
+            -703.4215984712271,
+            8.095737644700272
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1335.9633353965942,
+            -703.4215984712271,
+            5.095737644700272
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1335.9633353965942,
+            -703.4215984712271,
+            2.0957376447002716
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "dark",
+        "feature": "grid-like facade",
+        "position": [
+            1296.73109,
+            -642.57305,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_7-24-11_1312994984/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_7-24-11_1312994984/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e856b26b70c758e90490f544f85736e77df85fd8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_7-24-11_1312994984/pose.jsonl
@@ -0,0 +1,236 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1278.5758707436355,
+            31.18422050310928,
+            2.6920197671732673
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1278.5758707436355,
+            31.18422050310928,
+            5.692019767173267
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1278.5758707436355,
+            31.18422050310928,
+            8.692019767173267
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1278.5758707436355,
+            31.18422050310928,
+            11.692019767173267
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1278.5758707436355,
+            31.18422050310928,
+            14.692019767173267
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1278.5758707436355,
+            31.18422050310928,
+            17.692019767173267
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1278.5758707436355,
+            31.18422050310928,
+            20.692019767173267
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1278.5758707436355,
+            31.18422050310928,
+            23.692019767173267
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1278.5758707436355,
+            28.18422050310928,
+            23.692019767173267
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1278.5758707436355,
+            25.18422050310928,
+            23.692019767173267
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1278.5758707436355,
+            25.18422050310928,
+            20.692019767173267
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1278.5758707436355,
+            25.18422050310928,
+            17.692019767173267
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1278.5758707436355,
+            25.18422050310928,
+            14.692019767173267
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1278.5758707436355,
+            25.18422050310928,
+            11.692019767173267
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1278.5758707436355,
+            25.18422050310928,
+            8.692019767173267
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1278.5758707436355,
+            25.18422050310928,
+            5.692019767173267
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1278.5758707436355,
+            25.18422050310928,
+            2.6920197671732673
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "classical architectural details",
+        "position": [
+            1298.76414,
+            -56.69481,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_7-27-11_1582152040/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_7-27-11_1582152040/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..169b5333cda1fe4820efc6025912f5d275555815
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_7-27-11_1582152040/pose.jsonl
@@ -0,0 +1,379 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1261.057260583584,
+            -765.7923407622673,
+            1.2245100255333554
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1261.057260583584,
+            -765.7923407622673,
+            4.224510025533355
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1261.057260583584,
+            -765.7923407622673,
+            7.224510025533355
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1261.057260583584,
+            -765.7923407622673,
+            10.224510025533355
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1261.057260583584,
+            -765.7923407622673,
+            13.224510025533355
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1261.057260583584,
+            -765.7923407622673,
+            16.224510025533355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1259.557260583584,
+            -763.1942645509139,
+            16.224510025533355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1258.057260583584,
+            -760.5961883395605,
+            16.224510025533355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1256.557260583584,
+            -757.9981121282071,
+            16.224510025533355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1255.057260583584,
+            -755.4000359168538,
+            16.224510025533355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1253.557260583584,
+            -752.8019597055004,
+            16.224510025533355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1252.057260583584,
+            -750.203883494147,
+            16.224510025533355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1250.557260583584,
+            -747.6058072827936,
+            16.224510025533355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1249.057260583584,
+            -745.0077310714403,
+            16.224510025533355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1247.557260583584,
+            -742.4096548600869,
+            16.224510025533355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1246.057260583584,
+            -739.8115786487335,
+            16.224510025533355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1244.557260583584,
+            -737.2135024373802,
+            16.224510025533355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1243.057260583584,
+            -734.6154262260268,
+            16.224510025533355
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1243.057260583584,
+            -734.6154262260268,
+            16.224510025533355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1243.057260583584,
+            -731.6154262260268,
+            16.224510025533355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1243.057260583584,
+            -728.6154262260268,
+            16.224510025533355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1243.057260583584,
+            -725.6154262260268,
+            16.224510025533355
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1243.057260583584,
+            -722.6154262260268,
+            16.224510025533355
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1243.057260583584,
+            -722.6154262260268,
+            13.224510025533355
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1243.057260583584,
+            -722.6154262260268,
+            10.224510025533355
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1243.057260583584,
+            -722.6154262260268,
+            7.224510025533355
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1243.057260583584,
+            -722.6154262260268,
+            4.224510025533355
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1243.057260583584,
+            -722.6154262260268,
+            1.2245100255333554
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "classical architectural details",
+        "position": [
+            1230.03453,
+            -690.6132799999999,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_7-39-12_1761250573/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_7-39-12_1761250573/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..de0da55e8e55130cb454818de007c635575cad51
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_7-39-12_1761250573/pose.jsonl
@@ -0,0 +1,353 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1516.1073119396044,
+            -464.62833404843053,
+            0.733174563125055
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1516.1073119396044,
+            -464.62833404843053,
+            3.733174563125055
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1516.1073119396044,
+            -464.62833404843053,
+            6.733174563125055
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1513.509235728251,
+            -463.12833404843053,
+            6.733174563125055
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1510.9111595168977,
+            -461.62833404843053,
+            6.733174563125055
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1508.3130833055443,
+            -460.12833404843053,
+            6.733174563125055
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1505.715007094191,
+            -458.62833404843053,
+            6.733174563125055
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1503.1169308828376,
+            -457.12833404843053,
+            6.733174563125055
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1500.5188546714842,
+            -455.62833404843053,
+            6.733174563125055
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1500.5188546714842,
+            -455.62833404843053,
+            6.733174563125055
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1499.0188546714842,
+            -453.0302578370772,
+            6.733174563125055
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1499.0188546714842,
+            -453.0302578370772,
+            6.733174563125055
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1499.0188546714842,
+            -450.0302578370772,
+            6.733174563125055
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1499.0188546714842,
+            -447.0302578370772,
+            6.733174563125055
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1499.0188546714842,
+            -447.0302578370772,
+            6.733174563125055
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1499.0188546714842,
+            -447.0302578370772,
+            6.733174563125055
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1496.4207784601308,
+            -445.5302578370772,
+            6.733174563125055
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1493.8227022487774,
+            -444.0302578370772,
+            6.733174563125055
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1493.8227022487774,
+            -444.0302578370772,
+            6.733174563125055
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1490.8227022487774,
+            -444.0302578370772,
+            6.733174563125055
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1487.8227022487774,
+            -444.0302578370772,
+            6.733174563125055
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1484.8227022487774,
+            -444.0302578370772,
+            6.733174563125055
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1481.8227022487774,
+            -444.0302578370772,
+            6.733174563125055
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1478.8227022487774,
+            -444.0302578370772,
+            6.733174563125055
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1478.8227022487774,
+            -444.0302578370772,
+            3.733174563125055
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1478.8227022487774,
+            -444.0302578370772,
+            0.733174563125055
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "classical architectural elements",
+        "position": [
+            1446.375,
+            -429.53703,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_7-40-47_1003886059/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_7-40-47_1003886059/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0a117e3ddefbfe63a18f8d808c54826e6d23486d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_7-40-47_1003886059/pose.jsonl
@@ -0,0 +1,197 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1795.6970101902405,
+            373.5998688751131,
+            0.38608408127866944
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1795.6970101902405,
+            373.5998688751131,
+            3.3860840812786694
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1795.6970101902405,
+            373.5998688751131,
+            6.3860840812786694
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1795.6970101902405,
+            373.5998688751131,
+            9.38608408127867
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1795.6970101902405,
+            373.5998688751131,
+            12.38608408127867
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1794.1970101902405,
+            376.1979450864664,
+            12.38608408127867
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1792.6970101902405,
+            378.7960212978197,
+            12.38608408127867
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1791.1970101902405,
+            381.39409750917304,
+            12.38608408127867
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1789.6970101902405,
+            383.99217372052635,
+            12.38608408127867
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1788.1970101902405,
+            386.59024993187967,
+            12.38608408127867
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1788.1970101902405,
+            386.59024993187967,
+            9.38608408127867
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1788.1970101902405,
+            386.59024993187967,
+            6.3860840812786694
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1788.1970101902405,
+            386.59024993187967,
+            3.3860840812786694
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1788.1970101902405,
+            386.59024993187967,
+            0.38608408127866944
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "dark",
+        "feature": "grid-like facade",
+        "position": [
+            1756.33172,
+            442.84734,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_7-47-27_525829204/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_7-47-27_525829204/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..51c1ca9e61cde90d527e24ba18eddf61604fe976
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_7-47-27_525829204/pose.jsonl
@@ -0,0 +1,158 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1191.9824353104784,
+            877.2357674856971,
+            2.4959197263119304
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1191.9824353104784,
+            877.2357674856971,
+            5.49591972631193
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1191.9824353104784,
+            877.2357674856971,
+            8.49591972631193
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1191.9824353104784,
+            877.2357674856971,
+            11.49591972631193
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1191.9824353104784,
+            877.2357674856971,
+            14.49591972631193
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1190.4824353104784,
+            874.6376912743438,
+            14.49591972631193
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1188.9824353104784,
+            872.0396150629904,
+            14.49591972631193
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1188.9824353104784,
+            872.0396150629904,
+            11.49591972631193
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1188.9824353104784,
+            872.0396150629904,
+            8.49591972631193
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1188.9824353104784,
+            872.0396150629904,
+            5.49591972631193
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1188.9824353104784,
+            872.0396150629904,
+            2.4959197263119304
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "ornate detailing",
+        "position": [
+            -1152.49258,
+            790.8567200000001,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_7-48-49_1312630443/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_7-48-49_1312630443/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..13c7ce85a3454bd1be8d183e83f7ca0b15bbc146
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_7-48-49_1312630443/pose.jsonl
@@ -0,0 +1,210 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            211.77488206052647,
+            1183.0830515486623,
+            2.360040762766765
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            211.77488206052647,
+            1183.0830515486623,
+            5.360040762766765
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            211.77488206052647,
+            1183.0830515486623,
+            8.360040762766765
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            211.77488206052647,
+            1183.0830515486623,
+            11.360040762766765
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            211.77488206052647,
+            1183.0830515486623,
+            14.360040762766765
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            213.27488206052647,
+            1180.484975337309,
+            14.360040762766765
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            214.77488206052647,
+            1177.8868991259556,
+            14.360040762766765
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            216.27488206052647,
+            1175.2888229146022,
+            14.360040762766765
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            216.27488206052647,
+            1175.2888229146022,
+            14.360040762766765
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            218.87295827187978,
+            1173.7888229146022,
+            14.360040762766765
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            221.4710344832331,
+            1172.2888229146022,
+            14.360040762766765
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            221.4710344832331,
+            1172.2888229146022,
+            11.360040762766765
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            221.4710344832331,
+            1172.2888229146022,
+            8.360040762766765
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            221.4710344832331,
+            1172.2888229146022,
+            5.360040762766765
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            221.4710344832331,
+            1172.2888229146022,
+            2.360040762766765
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "Brown",
+        "feature": "Windows",
+        "position": [
+            251.78105,
+            1135.51969,
+            0.0
+        ],
+        "shape": "Rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_7-49-33_199411898/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_7-49-33_199411898/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7fb6cc3492cb55abedb0868852f4237627585cb6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_7-49-33_199411898/pose.jsonl
@@ -0,0 +1,327 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            388.3499913591604,
+            1194.0694304611052,
+            1.6993189976926253
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            388.3499913591604,
+            1194.0694304611052,
+            4.699318997692625
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            388.3499913591604,
+            1194.0694304611052,
+            7.699318997692625
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            388.3499913591604,
+            1194.0694304611052,
+            10.699318997692625
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            388.3499913591604,
+            1194.0694304611052,
+            13.699318997692625
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            388.3499913591604,
+            1194.0694304611052,
+            16.699318997692625
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            388.3499913591604,
+            1194.0694304611052,
+            19.699318997692625
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            388.3499913591604,
+            1194.0694304611052,
+            22.699318997692625
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            388.3499913591604,
+            1194.0694304611052,
+            25.699318997692625
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            388.3499913591604,
+            1194.0694304611052,
+            28.699318997692625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            388.3499913591604,
+            1191.0694304611052,
+            28.699318997692625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            388.3499913591604,
+            1188.0694304611052,
+            28.699318997692625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            388.3499913591604,
+            1185.0694304611052,
+            28.699318997692625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            388.3499913591604,
+            1182.0694304611052,
+            28.699318997692625
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            388.3499913591604,
+            1179.0694304611052,
+            28.699318997692625
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            388.3499913591604,
+            1179.0694304611052,
+            25.699318997692625
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            388.3499913591604,
+            1179.0694304611052,
+            22.699318997692625
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            388.3499913591604,
+            1179.0694304611052,
+            19.699318997692625
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            388.3499913591604,
+            1179.0694304611052,
+            16.699318997692625
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            388.3499913591604,
+            1179.0694304611052,
+            13.699318997692625
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            388.3499913591604,
+            1179.0694304611052,
+            10.699318997692625
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            388.3499913591604,
+            1179.0694304611052,
+            7.699318997692625
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            388.3499913591604,
+            1179.0694304611052,
+            4.699318997692625
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            388.3499913591604,
+            1179.0694304611052,
+            1.6993189976926253
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "arched windows",
+        "position": [
+            386.13914,
+            1105.90578,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_7-53-27_1022089159/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_7-53-27_1022089159/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e13fe56e22780296fc9c7eb347571b81c1b6542e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_7-53-27_1022089159/pose.jsonl
@@ -0,0 +1,353 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1902.921312697,
+            1348.183677783472,
+            0.4777379100895658
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1902.921312697,
+            1348.183677783472,
+            3.477737910089566
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1902.921312697,
+            1348.183677783472,
+            6.477737910089566
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1902.921312697,
+            1348.183677783472,
+            9.477737910089566
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1902.921312697,
+            1348.183677783472,
+            12.477737910089566
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1902.921312697,
+            1348.183677783472,
+            15.477737910089566
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1900.3232364856467,
+            1346.683677783472,
+            15.477737910089566
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1897.7251602742933,
+            1345.183677783472,
+            15.477737910089566
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1895.12708406294,
+            1343.683677783472,
+            15.477737910089566
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1892.5290078515866,
+            1342.183677783472,
+            15.477737910089566
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1889.9309316402332,
+            1340.683677783472,
+            15.477737910089566
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1887.3328554288798,
+            1339.183677783472,
+            15.477737910089566
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1884.7347792175265,
+            1337.683677783472,
+            15.477737910089566
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1882.136703006173,
+            1336.183677783472,
+            15.477737910089566
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1882.136703006173,
+            1336.183677783472,
+            15.477737910089566
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1880.636703006173,
+            1333.5856015721185,
+            15.477737910089566
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1879.136703006173,
+            1330.9875253607652,
+            15.477737910089566
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1877.636703006173,
+            1328.3894491494118,
+            15.477737910089566
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1876.136703006173,
+            1325.7913729380584,
+            15.477737910089566
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1874.636703006173,
+            1323.193296726705,
+            15.477737910089566
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1873.136703006173,
+            1320.5952205153517,
+            15.477737910089566
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1873.136703006173,
+            1320.5952205153517,
+            12.477737910089566
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1873.136703006173,
+            1320.5952205153517,
+            9.477737910089566
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1873.136703006173,
+            1320.5952205153517,
+            6.477737910089566
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1873.136703006173,
+            1320.5952205153517,
+            3.477737910089566
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1873.136703006173,
+            1320.5952205153517,
+            0.4777379100895658
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "arched windows",
+        "position": [
+            1846.55,
+            1298.96547,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_7-58-19_1242561041/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_7-58-19_1242561041/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2c5e09078bee7d7ea0459d4693cbac857193f461
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_7-58-19_1242561041/pose.jsonl
@@ -0,0 +1,418 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1583.2982779455474,
+            614.0973104389664,
+            2.4443294393648536
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1583.2982779455474,
+            614.0973104389664,
+            5.444329439364854
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1583.2982779455474,
+            614.0973104389664,
+            8.444329439364854
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1583.2982779455474,
+            614.0973104389664,
+            11.444329439364854
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1583.2982779455474,
+            614.0973104389664,
+            14.444329439364854
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1583.2982779455474,
+            614.0973104389664,
+            17.444329439364854
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1583.2982779455474,
+            614.0973104389664,
+            20.444329439364854
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1583.2982779455474,
+            614.0973104389664,
+            23.444329439364854
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1583.2982779455474,
+            614.0973104389664,
+            26.444329439364854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1583.2982779455474,
+            611.0973104389664,
+            26.444329439364854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1583.2982779455474,
+            608.0973104389664,
+            26.444329439364854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1583.2982779455474,
+            605.0973104389664,
+            26.444329439364854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1583.2982779455474,
+            602.0973104389664,
+            26.444329439364854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1583.2982779455474,
+            599.0973104389664,
+            26.444329439364854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1583.2982779455474,
+            596.0973104389664,
+            26.444329439364854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1583.2982779455474,
+            593.0973104389664,
+            26.444329439364854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1583.2982779455474,
+            590.0973104389664,
+            26.444329439364854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1583.2982779455474,
+            587.0973104389664,
+            26.444329439364854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1583.2982779455474,
+            584.0973104389664,
+            26.444329439364854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1583.2982779455474,
+            581.0973104389664,
+            26.444329439364854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1583.2982779455474,
+            578.0973104389664,
+            26.444329439364854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1583.2982779455474,
+            575.0973104389664,
+            26.444329439364854
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1583.2982779455474,
+            572.0973104389664,
+            26.444329439364854
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1583.2982779455474,
+            572.0973104389664,
+            23.444329439364854
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1583.2982779455474,
+            572.0973104389664,
+            20.444329439364854
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1583.2982779455474,
+            572.0973104389664,
+            17.444329439364854
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1583.2982779455474,
+            572.0973104389664,
+            14.444329439364854
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1583.2982779455474,
+            572.0973104389664,
+            11.444329439364854
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1583.2982779455474,
+            572.0973104389664,
+            8.444329439364854
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1583.2982779455474,
+            572.0973104389664,
+            5.444329439364854
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1583.2982779455474,
+            572.0973104389664,
+            2.4443294393648536
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "symmetrical window arrangement",
+        "position": [
+            -1578.48047,
+            520.35676,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_8-12-53_595311776/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_8-12-53_595311776/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..43f15aff4c9eb7156f518d6bb3a02401cb7e3537
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_8-12-53_595311776/pose.jsonl
@@ -0,0 +1,275 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1745.725580243442,
+            1960.9718792722208,
+            2.2275989878549822
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1745.725580243442,
+            1960.9718792722208,
+            5.227598987854982
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1745.725580243442,
+            1960.9718792722208,
+            8.227598987854982
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1745.725580243442,
+            1960.9718792722208,
+            11.227598987854982
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1745.725580243442,
+            1960.9718792722208,
+            14.227598987854982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1744.225580243442,
+            1958.3738030608674,
+            14.227598987854982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1742.725580243442,
+            1955.775726849514,
+            14.227598987854982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1741.225580243442,
+            1953.1776506381607,
+            14.227598987854982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1739.725580243442,
+            1950.5795744268073,
+            14.227598987854982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1738.225580243442,
+            1947.981498215454,
+            14.227598987854982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1736.725580243442,
+            1945.3834220041006,
+            14.227598987854982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1735.225580243442,
+            1942.7853457927472,
+            14.227598987854982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1733.725580243442,
+            1940.1872695813938,
+            14.227598987854982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1732.225580243442,
+            1937.5891933700404,
+            14.227598987854982
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1732.225580243442,
+            1937.5891933700404,
+            14.227598987854982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1732.225580243442,
+            1934.5891933700404,
+            14.227598987854982
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1732.225580243442,
+            1934.5891933700404,
+            11.227598987854982
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1732.225580243442,
+            1934.5891933700404,
+            8.227598987854982
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1732.225580243442,
+            1934.5891933700404,
+            5.227598987854982
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1732.225580243442,
+            1934.5891933700404,
+            2.2275989878549822
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "arched windows",
+        "position": [
+            -1710.65469,
+            1885.36797,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_8-26-43_279121308/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_8-26-43_279121308/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d9386a5cb37d031d895dde6872db1e854c1db754
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_8-26-43_279121308/pose.jsonl
@@ -0,0 +1,379 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1513.196840996912,
+            85.59571893724184,
+            0.45701378411731497
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1513.196840996912,
+            85.59571893724184,
+            3.457013784117315
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1513.196840996912,
+            85.59571893724184,
+            6.457013784117315
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1513.196840996912,
+            85.59571893724184,
+            9.457013784117315
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1513.196840996912,
+            85.59571893724184,
+            12.457013784117315
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1513.196840996912,
+            85.59571893724184,
+            15.457013784117315
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1513.196840996912,
+            85.59571893724184,
+            18.457013784117315
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1513.196840996912,
+            85.59571893724184,
+            21.457013784117315
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1513.196840996912,
+            85.59571893724184,
+            24.457013784117315
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1511.696840996912,
+            88.19379514859516,
+            24.457013784117315
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1510.196840996912,
+            90.79187135994847,
+            24.457013784117315
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1508.696840996912,
+            93.38994757130179,
+            24.457013784117315
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1507.196840996912,
+            95.9880237826551,
+            24.457013784117315
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1505.696840996912,
+            98.58609999400842,
+            24.457013784117315
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1504.196840996912,
+            101.18417620536174,
+            24.457013784117315
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1502.696840996912,
+            103.78225241671505,
+            24.457013784117315
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1501.196840996912,
+            106.38032862806837,
+            24.457013784117315
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1499.696840996912,
+            108.97840483942169,
+            24.457013784117315
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1498.196840996912,
+            111.576481050775,
+            24.457013784117315
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1496.696840996912,
+            114.17455726212832,
+            24.457013784117315
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1496.696840996912,
+            114.17455726212832,
+            21.457013784117315
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1496.696840996912,
+            114.17455726212832,
+            18.457013784117315
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1496.696840996912,
+            114.17455726212832,
+            15.457013784117315
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1496.696840996912,
+            114.17455726212832,
+            12.457013784117315
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1496.696840996912,
+            114.17455726212832,
+            9.457013784117315
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1496.696840996912,
+            114.17455726212832,
+            6.457013784117315
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1496.696840996912,
+            114.17455726212832,
+            3.457013784117315
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1496.696840996912,
+            114.17455726212832,
+            0.45701378411731497
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "dark",
+        "feature": "glass facade",
+        "position": [
+            1480.84,
+            152.41174,
+            0.0
+        ],
+        "shape": "pyramidal",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_8-36-26_1135771559/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_8-36-26_1135771559/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d5e00c1e91061d25318dbf756d2521906ec45795
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_8-36-26_1135771559/pose.jsonl
@@ -0,0 +1,262 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            869.9680123328488,
+            1734.64047364164,
+            2.9179108820209088
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            869.9680123328488,
+            1734.64047364164,
+            5.917910882020909
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            869.9680123328488,
+            1734.64047364164,
+            8.917910882020909
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            869.9680123328488,
+            1734.64047364164,
+            11.917910882020909
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            869.9680123328488,
+            1734.64047364164,
+            14.917910882020909
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            869.9680123328488,
+            1734.64047364164,
+            17.91791088202091
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            869.9680123328488,
+            1734.64047364164,
+            20.91791088202091
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            869.9680123328488,
+            1734.64047364164,
+            23.91791088202091
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            869.9680123328488,
+            1734.64047364164,
+            26.91791088202091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            872.9680123328488,
+            1734.64047364164,
+            26.91791088202091
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            875.9680123328488,
+            1734.64047364164,
+            26.91791088202091
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            875.9680123328488,
+            1734.64047364164,
+            23.91791088202091
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            875.9680123328488,
+            1734.64047364164,
+            20.91791088202091
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            875.9680123328488,
+            1734.64047364164,
+            17.91791088202091
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            875.9680123328488,
+            1734.64047364164,
+            14.917910882020909
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            875.9680123328488,
+            1734.64047364164,
+            11.917910882020909
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            875.9680123328488,
+            1734.64047364164,
+            8.917910882020909
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            875.9680123328488,
+            1734.64047364164,
+            5.917910882020909
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            875.9680123328488,
+            1734.64047364164,
+            2.9179108820209088
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "arched windows",
+        "position": [
+            937.61742,
+            1706.1731200000002,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_8-39-2_1649709016/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_8-39-2_1649709016/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c85e86630beb3b2a84b1167d70abcbbb6e56d76f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_8-39-2_1649709016/pose.jsonl
@@ -0,0 +1,327 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1104.910480699429,
+            1187.9509569441113,
+            0.09868108973475742
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1104.910480699429,
+            1187.9509569441113,
+            3.0986810897347574
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1104.910480699429,
+            1187.9509569441113,
+            6.098681089734757
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1104.910480699429,
+            1187.9509569441113,
+            9.098681089734757
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1104.910480699429,
+            1187.9509569441113,
+            12.098681089734757
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1104.910480699429,
+            1187.9509569441113,
+            15.098681089734757
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1104.910480699429,
+            1187.9509569441113,
+            18.098681089734757
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1107.910480699429,
+            1187.9509569441113,
+            18.098681089734757
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1110.910480699429,
+            1187.9509569441113,
+            18.098681089734757
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1110.910480699429,
+            1187.9509569441113,
+            18.098681089734757
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1110.910480699429,
+            1187.9509569441113,
+            18.098681089734757
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1112.410480699429,
+            1190.5490331554647,
+            18.098681089734757
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1113.910480699429,
+            1193.147109366818,
+            18.098681089734757
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1115.410480699429,
+            1195.7451855781715,
+            18.098681089734757
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1115.410480699429,
+            1195.7451855781715,
+            18.098681089734757
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1118.0085569107823,
+            1197.2451855781715,
+            18.098681089734757
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1120.6066331221357,
+            1198.7451855781715,
+            18.098681089734757
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1123.204709333489,
+            1200.2451855781715,
+            18.098681089734757
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1123.204709333489,
+            1200.2451855781715,
+            15.098681089734757
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1123.204709333489,
+            1200.2451855781715,
+            12.098681089734757
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1123.204709333489,
+            1200.2451855781715,
+            9.098681089734757
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1123.204709333489,
+            1200.2451855781715,
+            6.098681089734757
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1123.204709333489,
+            1200.2451855781715,
+            3.0986810897347574
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1123.204709333489,
+            1200.2451855781715,
+            0.09868108973475742
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "dark",
+        "feature": "glass facade",
+        "position": [
+            1172.5868,
+            1239.25586,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_8-41-14_82173109/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_8-41-14_82173109/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c7c1bf387591a142b251caf4c1dd29c15437a359
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_8-41-14_82173109/pose.jsonl
@@ -0,0 +1,444 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1432.7233648151962,
+            333.83268339892834,
+            1.470463920836302
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1432.7233648151962,
+            333.83268339892834,
+            4.470463920836302
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1432.7233648151962,
+            333.83268339892834,
+            7.470463920836302
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1432.7233648151962,
+            333.83268339892834,
+            10.470463920836302
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1432.7233648151962,
+            333.83268339892834,
+            13.470463920836302
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1432.7233648151962,
+            333.83268339892834,
+            16.470463920836302
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1432.7233648151962,
+            333.83268339892834,
+            19.470463920836302
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1432.7233648151962,
+            333.83268339892834,
+            22.470463920836302
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1432.7233648151962,
+            333.83268339892834,
+            25.470463920836302
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1432.7233648151962,
+            333.83268339892834,
+            28.470463920836302
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1432.7233648151962,
+            330.83268339892834,
+            28.470463920836302
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1432.7233648151962,
+            327.83268339892834,
+            28.470463920836302
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1432.7233648151962,
+            324.83268339892834,
+            28.470463920836302
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1432.7233648151962,
+            321.83268339892834,
+            28.470463920836302
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1432.7233648151962,
+            318.83268339892834,
+            28.470463920836302
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1432.7233648151962,
+            315.83268339892834,
+            28.470463920836302
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1432.7233648151962,
+            312.83268339892834,
+            28.470463920836302
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1432.7233648151962,
+            309.83268339892834,
+            28.470463920836302
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1432.7233648151962,
+            306.83268339892834,
+            28.470463920836302
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1432.7233648151962,
+            306.83268339892834,
+            28.470463920836302
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1431.2233648151962,
+            304.234607187575,
+            28.470463920836302
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1429.7233648151962,
+            301.6365309762217,
+            28.470463920836302
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1428.2233648151962,
+            299.0384547648684,
+            28.470463920836302
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1426.7233648151962,
+            296.4403785535151,
+            28.470463920836302
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1426.7233648151962,
+            296.4403785535151,
+            25.470463920836302
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1426.7233648151962,
+            296.4403785535151,
+            22.470463920836302
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1426.7233648151962,
+            296.4403785535151,
+            19.470463920836302
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1426.7233648151962,
+            296.4403785535151,
+            16.470463920836302
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1426.7233648151962,
+            296.4403785535151,
+            13.470463920836302
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1426.7233648151962,
+            296.4403785535151,
+            10.470463920836302
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1426.7233648151962,
+            296.4403785535151,
+            7.470463920836302
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1426.7233648151962,
+            296.4403785535151,
+            4.470463920836302
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1426.7233648151962,
+            296.4403785535151,
+            1.470463920836302
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "open interior",
+        "position": [
+            1418.51312,
+            244.55996,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_8-45-2_454333378/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_8-45-2_454333378/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..da342d17820db1f25d44337f8b908ea286a702be
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_8-45-2_454333378/pose.jsonl
@@ -0,0 +1,288 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1636.9651346337944,
+            497.2927164505489,
+            2.6591358214168714
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1636.9651346337944,
+            497.2927164505489,
+            5.659135821416871
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1636.9651346337944,
+            497.2927164505489,
+            8.659135821416871
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1636.9651346337944,
+            497.2927164505489,
+            11.659135821416871
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1636.9651346337944,
+            497.2927164505489,
+            14.659135821416871
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1636.9651346337944,
+            497.2927164505489,
+            17.65913582141687
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1636.9651346337944,
+            497.2927164505489,
+            20.65913582141687
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1636.9651346337944,
+            497.2927164505489,
+            23.65913582141687
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1636.9651346337944,
+            497.2927164505489,
+            26.65913582141687
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1634.367058422441,
+            495.7927164505489,
+            26.65913582141687
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1631.7689822110876,
+            494.2927164505489,
+            26.65913582141687
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1629.1709059997343,
+            492.7927164505489,
+            26.65913582141687
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1626.5728297883809,
+            491.2927164505489,
+            26.65913582141687
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1626.5728297883809,
+            491.2927164505489,
+            23.65913582141687
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1626.5728297883809,
+            491.2927164505489,
+            20.65913582141687
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1626.5728297883809,
+            491.2927164505489,
+            17.65913582141687
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1626.5728297883809,
+            491.2927164505489,
+            14.659135821416871
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1626.5728297883809,
+            491.2927164505489,
+            11.659135821416871
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1626.5728297883809,
+            491.2927164505489,
+            8.659135821416871
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1626.5728297883809,
+            491.2927164505489,
+            5.659135821416871
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1626.5728297883809,
+            491.2927164505489,
+            2.6591358214168714
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "arched windows",
+        "position": [
+            -1568.2790599999998,
+            443.37172,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_8-47-25_661955081/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_8-47-25_661955081/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..588326f1e582acef425115f847936dd9cec4288e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_8-47-25_661955081/pose.jsonl
@@ -0,0 +1,444 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1520.1310220705411,
+            -436.4510361916494,
+            1.46015057375093
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1520.1310220705411,
+            -436.4510361916494,
+            4.46015057375093
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1520.1310220705411,
+            -436.4510361916494,
+            7.46015057375093
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1520.1310220705411,
+            -436.4510361916494,
+            10.46015057375093
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1520.1310220705411,
+            -436.4510361916494,
+            13.46015057375093
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1520.1310220705411,
+            -436.4510361916494,
+            16.46015057375093
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1520.1310220705411,
+            -436.4510361916494,
+            19.46015057375093
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1520.1310220705411,
+            -436.4510361916494,
+            22.46015057375093
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1520.1310220705411,
+            -436.4510361916494,
+            25.46015057375093
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1517.1310220705411,
+            -436.4510361916494,
+            25.46015057375093
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1514.1310220705411,
+            -436.4510361916494,
+            25.46015057375093
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1511.1310220705411,
+            -436.4510361916494,
+            25.46015057375093
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1508.1310220705411,
+            -436.4510361916494,
+            25.46015057375093
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1505.1310220705411,
+            -436.4510361916494,
+            25.46015057375093
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1502.1310220705411,
+            -436.4510361916494,
+            25.46015057375093
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1499.1310220705411,
+            -436.4510361916494,
+            25.46015057375093
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1496.1310220705411,
+            -436.4510361916494,
+            25.46015057375093
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1493.1310220705411,
+            -436.4510361916494,
+            25.46015057375093
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1490.1310220705411,
+            -436.4510361916494,
+            25.46015057375093
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1487.1310220705411,
+            -436.4510361916494,
+            25.46015057375093
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1484.1310220705411,
+            -436.4510361916494,
+            25.46015057375093
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1481.1310220705411,
+            -436.4510361916494,
+            25.46015057375093
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1481.1310220705411,
+            -436.4510361916494,
+            25.46015057375093
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1478.5329458591877,
+            -434.9510361916494,
+            25.46015057375093
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1475.9348696478344,
+            -433.4510361916494,
+            25.46015057375093
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1475.9348696478344,
+            -433.4510361916494,
+            22.46015057375093
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1475.9348696478344,
+            -433.4510361916494,
+            19.46015057375093
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1475.9348696478344,
+            -433.4510361916494,
+            16.46015057375093
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1475.9348696478344,
+            -433.4510361916494,
+            13.46015057375093
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1475.9348696478344,
+            -433.4510361916494,
+            10.46015057375093
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1475.9348696478344,
+            -433.4510361916494,
+            7.46015057375093
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1475.9348696478344,
+            -433.4510361916494,
+            4.46015057375093
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1475.9348696478344,
+            -433.4510361916494,
+            1.46015057375093
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "classical architectural elements",
+        "position": [
+            1446.375,
+            -429.53703,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_8-49-44_11671338/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_8-49-44_11671338/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5d0c3fe219392f2f0367f754b3f669ebc9d8b0e3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_8-49-44_11671338/pose.jsonl
@@ -0,0 +1,262 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1663.3234724493711,
+            -74.00850742023924,
+            1.1286825524373434
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1663.3234724493711,
+            -74.00850742023924,
+            4.128682552437343
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1663.3234724493711,
+            -74.00850742023924,
+            7.128682552437343
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1663.3234724493711,
+            -74.00850742023924,
+            10.128682552437343
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1663.3234724493711,
+            -74.00850742023924,
+            13.128682552437343
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1660.3234724493711,
+            -74.00850742023924,
+            13.128682552437343
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1657.3234724493711,
+            -74.00850742023924,
+            13.128682552437343
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1654.3234724493711,
+            -74.00850742023924,
+            13.128682552437343
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1651.3234724493711,
+            -74.00850742023924,
+            13.128682552437343
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1648.3234724493711,
+            -74.00850742023924,
+            13.128682552437343
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1645.3234724493711,
+            -74.00850742023924,
+            13.128682552437343
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1642.3234724493711,
+            -74.00850742023924,
+            13.128682552437343
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1639.3234724493711,
+            -74.00850742023924,
+            13.128682552437343
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1636.3234724493711,
+            -74.00850742023924,
+            13.128682552437343
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1633.3234724493711,
+            -74.00850742023924,
+            13.128682552437343
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1633.3234724493711,
+            -74.00850742023924,
+            10.128682552437343
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1633.3234724493711,
+            -74.00850742023924,
+            7.128682552437343
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1633.3234724493711,
+            -74.00850742023924,
+            4.128682552437343
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1633.3234724493711,
+            -74.00850742023924,
+            1.1286825524373434
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "classical architectural elements",
+        "position": [
+            1584.33484,
+            -79.23666,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_9-13-44_1766146081/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_9-13-44_1766146081/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f34e050811221f3a523d2efdf896d246ea1cc60e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_9-13-44_1766146081/pose.jsonl
@@ -0,0 +1,301 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1913.1381119650453,
+            808.6189182313159,
+            2.1097554838442445
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1913.1381119650453,
+            808.6189182313159,
+            5.1097554838442445
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1913.1381119650453,
+            808.6189182313159,
+            8.109755483844244
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1910.5400357536919,
+            807.1189182313159,
+            8.109755483844244
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1907.9419595423385,
+            805.6189182313159,
+            8.109755483844244
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1905.3438833309851,
+            804.1189182313159,
+            8.109755483844244
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1902.7458071196318,
+            802.6189182313159,
+            8.109755483844244
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1900.1477309082784,
+            801.1189182313159,
+            8.109755483844244
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1897.549654696925,
+            799.6189182313159,
+            8.109755483844244
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1894.9515784855716,
+            798.1189182313159,
+            8.109755483844244
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1892.3535022742183,
+            796.6189182313159,
+            8.109755483844244
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1889.755426062865,
+            795.1189182313159,
+            8.109755483844244
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1887.1573498515115,
+            793.6189182313159,
+            8.109755483844244
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1884.5592736401582,
+            792.1189182313159,
+            8.109755483844244
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1881.9611974288048,
+            790.6189182313159,
+            8.109755483844244
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1881.9611974288048,
+            790.6189182313159,
+            8.109755483844244
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1878.9611974288048,
+            790.6189182313159,
+            8.109755483844244
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1878.9611974288048,
+            790.6189182313159,
+            8.109755483844244
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1878.9611974288048,
+            790.6189182313159,
+            8.109755483844244
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 4.1887902047863905
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1877.4611974288048,
+            788.0208420199626,
+            8.109755483844244
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 4.1887902047863905
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1877.4611974288048,
+            788.0208420199626,
+            5.1097554838442445
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 4.1887902047863905
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1877.4611974288048,
+            788.0208420199626,
+            2.1097554838442445
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 4.1887902047863905
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "arched windows",
+        "position": [
+            1846.91625,
+            770.84641,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "right",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_9-18-18_1694887982/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_9-18-18_1694887982/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e9a3e49982c3d3666d181545363bbe8d94c0cc7d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_9-18-18_1694887982/pose.jsonl
@@ -0,0 +1,197 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -529.9490421356038,
+            209.45972009655753,
+            1.550694501781912
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -529.9490421356038,
+            209.45972009655753,
+            4.550694501781912
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -529.9490421356038,
+            209.45972009655753,
+            7.550694501781912
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -529.9490421356038,
+            209.45972009655753,
+            10.550694501781912
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -532.5471183469572,
+            210.95972009655753,
+            10.550694501781912
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -535.1451945583105,
+            212.45972009655753,
+            10.550694501781912
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -537.7432707696639,
+            213.95972009655753,
+            10.550694501781912
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -540.3413469810173,
+            215.45972009655753,
+            10.550694501781912
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -540.3413469810173,
+            215.45972009655753,
+            10.550694501781912
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -541.8413469810173,
+            218.05779630791085,
+            10.550694501781912
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -543.3413469810173,
+            220.65587251926416,
+            10.550694501781912
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -543.3413469810173,
+            220.65587251926416,
+            7.550694501781912
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -543.3413469810173,
+            220.65587251926416,
+            4.550694501781912
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -543.3413469810173,
+            220.65587251926416,
+            1.550694501781912
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "tall, narrow, with horizontal stripes",
+        "position": [
+            -588.3153500000001,
+            260.48541,
+            0.7
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_9-23-4_209359415/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_9-23-4_209359415/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..03b7b3abb119f40dbcb6bf09b680dacb1ad1be32
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_9-23-4_209359415/pose.jsonl
@@ -0,0 +1,327 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1000.9212515918919,
+            1630.7100526825757,
+            1.139325429258573
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1000.9212515918919,
+            1630.7100526825757,
+            4.139325429258573
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1000.9212515918919,
+            1630.7100526825757,
+            7.139325429258573
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1000.9212515918919,
+            1630.7100526825757,
+            10.139325429258573
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1000.9212515918919,
+            1630.7100526825757,
+            13.139325429258573
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1000.9212515918919,
+            1630.7100526825757,
+            16.139325429258573
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1000.9212515918919,
+            1630.7100526825757,
+            19.139325429258573
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1000.9212515918919,
+            1630.7100526825757,
+            22.139325429258573
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1002.4212515918919,
+            1633.308128893929,
+            22.139325429258573
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1003.9212515918919,
+            1635.9062051052824,
+            22.139325429258573
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1005.4212515918919,
+            1638.5042813166358,
+            22.139325429258573
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1006.9212515918919,
+            1641.1023575279892,
+            22.139325429258573
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1008.4212515918919,
+            1643.7004337393425,
+            22.139325429258573
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1009.9212515918919,
+            1646.298509950696,
+            22.139325429258573
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1011.4212515918919,
+            1648.8965861620493,
+            22.139325429258573
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1012.9212515918919,
+            1651.4946623734027,
+            22.139325429258573
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1014.4212515918919,
+            1654.092738584756,
+            22.139325429258573
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1014.4212515918919,
+            1654.092738584756,
+            19.139325429258573
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1014.4212515918919,
+            1654.092738584756,
+            16.139325429258573
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1014.4212515918919,
+            1654.092738584756,
+            13.139325429258573
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1014.4212515918919,
+            1654.092738584756,
+            10.139325429258573
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1014.4212515918919,
+            1654.092738584756,
+            7.139325429258573
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1014.4212515918919,
+            1654.092738584756,
+            4.139325429258573
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1014.4212515918919,
+            1654.092738584756,
+            1.139325429258573
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "large windows",
+        "position": [
+            -1029.81492,
+            1686.59125,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_9-49-12_219544266/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_9-49-12_219544266/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c39dd652319baebbd02b0f15264e1fed9ab14705
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_9-49-12_219544266/pose.jsonl
@@ -0,0 +1,327 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1736.8076555506843,
+            1071.746445881377,
+            2.578681591146257
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1736.8076555506843,
+            1071.746445881377,
+            5.578681591146257
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1736.8076555506843,
+            1071.746445881377,
+            8.578681591146257
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1736.8076555506843,
+            1071.746445881377,
+            11.578681591146257
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1736.8076555506843,
+            1071.746445881377,
+            14.578681591146257
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1736.8076555506843,
+            1071.746445881377,
+            17.578681591146257
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1736.8076555506843,
+            1071.746445881377,
+            20.578681591146257
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1736.8076555506843,
+            1071.746445881377,
+            23.578681591146257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1736.8076555506843,
+            1074.746445881377,
+            23.578681591146257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1736.8076555506843,
+            1077.746445881377,
+            23.578681591146257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1736.8076555506843,
+            1080.746445881377,
+            23.578681591146257
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1736.8076555506843,
+            1080.746445881377,
+            23.578681591146257
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1736.8076555506843,
+            1080.746445881377,
+            23.578681591146257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982989
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1734.209579339331,
+            1082.246445881377,
+            23.578681591146257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1731.6115031279776,
+            1083.746445881377,
+            23.578681591146257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1729.0134269166242,
+            1085.246445881377,
+            23.578681591146257
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1726.4153507052708,
+            1086.746445881377,
+            23.578681591146257
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1726.4153507052708,
+            1086.746445881377,
+            20.578681591146257
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1726.4153507052708,
+            1086.746445881377,
+            17.578681591146257
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1726.4153507052708,
+            1086.746445881377,
+            14.578681591146257
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1726.4153507052708,
+            1086.746445881377,
+            11.578681591146257
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1726.4153507052708,
+            1086.746445881377,
+            8.578681591146257
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1726.4153507052708,
+            1086.746445881377,
+            5.578681591146257
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1726.4153507052708,
+            1086.746445881377,
+            2.578681591146257
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "large windows",
+        "position": [
+            -1692.82609,
+            1127.82141,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_9-5-36_1992576590/pose.jsonl b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_9-5-36_1992576590/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..97c1abe7bdac39c24545777aa4d5d17a4d351b50
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_short_updown/2025-1-15_9-5-36_1992576590/pose.jsonl
@@ -0,0 +1,210 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1049.0724634427265,
+            1456.9312956705203,
+            1.7160054735551782
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1049.0724634427265,
+            1456.9312956705203,
+            4.716005473555178
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1049.0724634427265,
+            1456.9312956705203,
+            7.716005473555178
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1049.0724634427265,
+            1456.9312956705203,
+            10.716005473555178
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1049.0724634427265,
+            1456.9312956705203,
+            13.716005473555178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1050.5724634427265,
+            1459.5293718818737,
+            13.716005473555178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1052.0724634427265,
+            1462.127448093227,
+            13.716005473555178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1053.5724634427265,
+            1464.7255243045804,
+            13.716005473555178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1055.0724634427265,
+            1467.3236005159338,
+            13.716005473555178
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1055.0724634427265,
+            1467.3236005159338,
+            13.716005473555178
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1055.0724634427265,
+            1470.3236005159338,
+            13.716005473555178
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1055.0724634427265,
+            1470.3236005159338,
+            10.716005473555178
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1055.0724634427265,
+            1470.3236005159338,
+            7.716005473555178
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1055.0724634427265,
+            1470.3236005159338,
+            4.716005473555178
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1055.0724634427265,
+            1470.3236005159338,
+            1.7160054735551782
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267949059
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "elevated section",
+        "position": [
+            1079.7582,
+            1535.4825,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}