diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-01-19_03-21-00_835918/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-01-19_03-21-00_835918/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b1db53bebad1284afe98a5ce95fdf117c02879ea
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-01-19_03-21-00_835918/pose.jsonl
@@ -0,0 +1,626 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1734.210539742466,
+            377.419787532139,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1735.710539742466,
+            374.8217113207857,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1737.210539742466,
+            372.2236351094324,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1738.710539742466,
+            369.6255588980791,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1740.210539742466,
+            367.02748268672576,
+            -8.37259322125965
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1740.210539742466,
+            367.02748268672576,
+            -5.372593221259651
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1740.210539742466,
+            367.02748268672576,
+            -2.3725932212596508
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1740.210539742466,
+            367.02748268672576,
+            0.6274067787403492
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1740.210539742466,
+            367.02748268672576,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1742.8086159538193,
+            365.52748268672576,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1745.4066921651727,
+            364.02748268672576,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1748.004768376526,
+            362.52748268672576,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1750.6028445878794,
+            361.02748268672576,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1753.2009207992328,
+            359.52748268672576,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1755.7989970105862,
+            358.02748268672576,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1758.3970732219395,
+            356.52748268672576,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1760.995149433293,
+            355.02748268672576,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1763.5932256446463,
+            353.52748268672576,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1766.1913018559997,
+            352.02748268672576,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1768.789378067353,
+            350.52748268672576,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1771.3874542787064,
+            349.02748268672576,
+            0.6274067787403492
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1771.3874542787064,
+            349.02748268672576,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 9.43689570931383e-15
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1774.3874542787064,
+            349.02748268672576,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1777.3874542787064,
+            349.02748268672576,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1780.3874542787064,
+            349.02748268672576,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1783.3874542787064,
+            349.02748268672576,
+            0.6274067787403492
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1783.3874542787064,
+            349.02748268672576,
+            0.6274067787403492
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1783.3874542787064,
+            349.02748268672576,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1784.8874542787064,
+            346.42940647537245,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1786.3874542787064,
+            343.83133026401913,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1787.8874542787064,
+            341.2332540526658,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1789.3874542787064,
+            338.6351778413125,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1790.8874542787064,
+            336.0371016299592,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1792.3874542787064,
+            333.43902541860587,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1793.8874542787064,
+            330.84094920725255,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1795.3874542787064,
+            328.24287299589923,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1796.8874542787064,
+            325.6447967845459,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1798.3874542787064,
+            323.0467205731926,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1799.8874542787064,
+            320.4486443618393,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1801.3874542787064,
+            317.85056815048597,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1802.8874542787064,
+            315.25249193913265,
+            0.6274067787403492
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1802.8874542787064,
+            315.25249193913265,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1805.4855304900598,
+            313.75249193913265,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1808.0836067014131,
+            312.25249193913265,
+            0.6274067787403492
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1808.0836067014131,
+            312.25249193913265,
+            -2.3725932212596508
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1808.0836067014131,
+            312.25249193913265,
+            -5.372593221259651
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1808.0836067014131,
+            312.25249193913265,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1824.0,
+            300.0,
+            -9.52448
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_18-27-57_1063958031/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_18-27-57_1063958031/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6a464c02b5dead0fdb129af22a0ac8b80816f07e
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_18-27-57_1063958031/pose.jsonl
@@ -0,0 +1,379 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            899.3312647142,
+            -213.78143220195682,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            896.7331885028466,
+            -215.28143220195682,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            894.1351122914932,
+            -216.78143220195682,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            891.5370360801398,
+            -218.28143220195682,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            888.9389598687865,
+            -219.78143220195682,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            886.3408836574331,
+            -221.28143220195682,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            883.7428074460797,
+            -222.78143220195682,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            881.1447312347264,
+            -224.28143220195682,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            878.546655023373,
+            -225.78143220195682,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            875.9485788120196,
+            -227.28143220195682,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            873.3505026006662,
+            -228.78143220195682,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            870.7524263893129,
+            -230.28143220195682,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            868.1543501779595,
+            -231.78143220195682,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            865.5562739666061,
+            -233.28143220195682,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            862.9581977552527,
+            -234.78143220195682,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            860.3601215438994,
+            -236.28143220195682,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            857.762045332546,
+            -237.78143220195682,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            855.1639691211926,
+            -239.28143220195682,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            852.5658929098392,
+            -240.78143220195682,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            849.9678166984859,
+            -242.28143220195682,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            847.3697404871325,
+            -243.78143220195682,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            844.7716642757791,
+            -245.28143220195682,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            842.1735880644258,
+            -246.78143220195682,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            839.5755118530724,
+            -248.28143220195682,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            836.977435641719,
+            -249.78143220195682,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            834.3793594303656,
+            -251.28143220195682,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            834.3793594303656,
+            -251.28143220195682,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            832.8793594303656,
+            -253.87950841331013,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            808.0,
+            -268.0,
+            5.86358
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_18-45-40_1960709859/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_18-45-40_1960709859/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..13f00a1d5fa22298684e4a29274201d4169626b6
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_18-45-40_1960709859/pose.jsonl
@@ -0,0 +1,470 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            230.47161976014291,
+            181.59025944343534,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            231.97161976014291,
+            184.18833565478866,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            233.47161976014291,
+            186.78641186614198,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            234.97161976014291,
+            189.3844880774953,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            236.47161976014291,
+            191.9825642888486,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            237.97161976014291,
+            194.58064050020192,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            239.47161976014291,
+            197.17871671155524,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            240.97161976014291,
+            199.77679292290856,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            242.47161976014291,
+            202.37486913426187,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            243.97161976014291,
+            204.9729453456152,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            245.47161976014291,
+            207.5710215569685,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            246.97161976014291,
+            210.16909776832182,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            248.47161976014291,
+            212.76717397967514,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            249.97161976014291,
+            215.36525019102845,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            251.47161976014291,
+            217.96332640238177,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            252.97161976014291,
+            220.56140261373508,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            254.47161976014291,
+            223.1594788250884,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            255.97161976014291,
+            225.75755503644172,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            257.4716197601429,
+            228.35563124779503,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            258.9716197601429,
+            230.95370745914835,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            258.9716197601429,
+            230.95370745914835,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            261.56969597149623,
+            232.45370745914835,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            264.16777218284955,
+            233.95370745914835,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            266.76584839420286,
+            235.45370745914835,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            269.3639246055562,
+            236.95370745914835,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            271.9620008169095,
+            238.45370745914835,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            274.5600770282628,
+            239.95370745914835,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            277.1581532396161,
+            241.45370745914835,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            279.75622945096944,
+            242.95370745914835,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            282.35430566232276,
+            244.45370745914835,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            284.9523818736761,
+            245.95370745914835,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            287.5504580850294,
+            247.45370745914835,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            290.1485342963827,
+            248.95370745914835,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            292.746610507736,
+            250.45370745914835,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            295.34468671908934,
+            251.95370745914835,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            320.0,
+            276.0,
+            64.2459
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_19-15-8_1238433452/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_19-15-8_1238433452/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a52d386ab60f4743b3ff22182d59c2b2ba1e9608
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_19-15-8_1238433452/pose.jsonl
@@ -0,0 +1,379 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1982.3485615178643,
+            710.0581644174376,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1980.8485615178643,
+            712.656240628791,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1979.3485615178643,
+            715.2543168401444,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1977.8485615178643,
+            717.8523930514978,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1976.3485615178643,
+            720.4504692628511,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1974.8485615178643,
+            723.0485454742045,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1973.3485615178643,
+            725.6466216855579,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1971.8485615178643,
+            728.2446978969112,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1970.3485615178643,
+            730.8427741082646,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1968.8485615178643,
+            733.440850319618,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1967.3485615178643,
+            736.0389265309714,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1965.8485615178643,
+            738.6370027423247,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1964.3485615178643,
+            741.2350789536781,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1962.8485615178643,
+            743.8331551650315,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1961.3485615178643,
+            746.4312313763849,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1959.8485615178643,
+            749.0293075877382,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1958.3485615178643,
+            751.6273837990916,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1956.8485615178643,
+            754.225460010445,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1955.3485615178643,
+            756.8235362217983,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1953.8485615178643,
+            759.4216124331517,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1952.3485615178643,
+            762.0196886445051,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1950.8485615178643,
+            764.6177648558585,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1950.8485615178643,
+            764.6177648558585,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1950.8485615178643,
+            767.6177648558585,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1950.8485615178643,
+            770.6177648558585,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1950.8485615178643,
+            773.6177648558585,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1950.8485615178643,
+            776.6177648558585,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1950.8485615178643,
+            779.6177648558585,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1936.0,
+            812.0,
+            160.906
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_19-37-57_780821396/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_19-37-57_780821396/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c0e0646e2483b6e0158c78ffd2b2b59adafc9225
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_19-37-57_780821396/pose.jsonl
@@ -0,0 +1,275 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1682.4127337979978,
+            455.853399537128,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1685.4127337979978,
+            455.853399537128,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1688.4127337979978,
+            455.853399537128,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1691.4127337979978,
+            455.853399537128,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1694.4127337979978,
+            455.853399537128,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1697.4127337979978,
+            455.853399537128,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1700.4127337979978,
+            455.853399537128,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1703.4127337979978,
+            455.853399537128,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1706.4127337979978,
+            455.853399537128,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1709.4127337979978,
+            455.853399537128,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1709.4127337979978,
+            455.853399537128,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1712.0108100093512,
+            457.353399537128,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1714.6088862207046,
+            458.853399537128,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1717.206962432058,
+            460.353399537128,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1719.8050386434113,
+            461.853399537128,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1722.4031148547647,
+            463.353399537128,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1725.001191066118,
+            464.853399537128,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1727.5992672774714,
+            466.353399537128,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1730.1973434888248,
+            467.853399537128,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1732.7954197001782,
+            469.353399537128,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1816.0,
+            488.0,
+            -8.00904
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_20-25-50_337453826/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_20-25-50_337453826/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b0ed8a1dddef0fe771aa0508b95d03de53ff4a84
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_20-25-50_337453826/pose.jsonl
@@ -0,0 +1,392 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1024.2245481893926,
+            787.9975742733606,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1025.7245481893926,
+            785.3994980620073,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1027.2245481893926,
+            782.8014218506539,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1028.7245481893926,
+            780.2033456393006,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1030.2245481893926,
+            777.6052694279472,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1031.7245481893926,
+            775.0071932165938,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1033.2245481893926,
+            772.4091170052404,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1034.7245481893926,
+            769.8110407938871,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1036.2245481893926,
+            767.2129645825337,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1037.7245481893926,
+            764.6148883711803,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1039.2245481893926,
+            762.0168121598269,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1040.7245481893926,
+            759.4187359484736,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1042.2245481893926,
+            756.8206597371202,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1043.7245481893926,
+            754.2225835257668,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1045.2245481893926,
+            751.6245073144134,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1046.7245481893926,
+            749.0264311030601,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1048.2245481893926,
+            746.4283548917067,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1049.7245481893926,
+            743.8302786803533,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1051.2245481893926,
+            741.232202469,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1051.2245481893926,
+            741.232202469,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1053.822624400746,
+            739.732202469,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1056.4207006120994,
+            738.232202469,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1059.0187768234528,
+            736.732202469,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1061.6168530348061,
+            735.232202469,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1064.2149292461595,
+            733.732202469,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1066.8130054575129,
+            732.232202469,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1069.4110816688662,
+            730.732202469,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1072.0091578802196,
+            729.232202469,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1074.607234091573,
+            727.732202469,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1092.0,
+            708.0,
+            64.9253
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_20-43-58_970925433/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_20-43-58_970925433/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ca3d93e6567a5bc091e743c7a769e7e0f02d9bf6
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_20-43-58_970925433/pose.jsonl
@@ -0,0 +1,444 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            660.0017125830593,
+            132.81885045304992,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            662.5997887944127,
+            131.31885045304992,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            665.1978650057661,
+            129.81885045304992,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            667.7959412171194,
+            128.31885045304992,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            670.3940174284728,
+            126.81885045304992,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            672.9920936398262,
+            125.31885045304992,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            675.5901698511796,
+            123.81885045304992,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            678.1882460625329,
+            122.31885045304992,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            680.7863222738863,
+            120.81885045304992,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            683.3843984852397,
+            119.31885045304992,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            683.3843984852397,
+            119.31885045304992,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            684.8843984852397,
+            116.7207742416966,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            686.3843984852397,
+            114.12269803034329,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            687.8843984852397,
+            111.52462181898997,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            687.8843984852397,
+            111.52462181898997,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            687.8843984852397,
+            108.52462181898997,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            687.8843984852397,
+            105.52462181898997,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            687.8843984852397,
+            102.52462181898997,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            687.8843984852397,
+            102.52462181898997,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            689.3843984852397,
+            99.92654560763665,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            690.8843984852397,
+            97.32846939628334,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            690.8843984852397,
+            97.32846939628334,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            693.482474696593,
+            95.82846939628334,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            696.0805509079464,
+            94.32846939628334,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            698.6786271192998,
+            92.82846939628334,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            701.2767033306532,
+            91.32846939628334,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            703.8747795420065,
+            89.82846939628334,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            706.4728557533599,
+            88.32846939628334,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            709.0709319647133,
+            86.82846939628334,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            711.6690081760667,
+            85.32846939628334,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            714.26708438742,
+            83.82846939628334,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            716.8651605987734,
+            82.32846939628334,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            719.4632368101268,
+            80.82846939628334,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            740.0,
+            68.0,
+            34.5123
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_21-15-23_378469911/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_21-15-23_378469911/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..611c3cdc56b0b12d6b23eb50640483b4ed052ad7
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_21-15-23_378469911/pose.jsonl
@@ -0,0 +1,444 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            429.74135700786235,
+            126.80186223673341,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            427.14328079650903,
+            125.30186223673341,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            424.5452045851557,
+            123.80186223673341,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            421.9471283738024,
+            122.30186223673341,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            419.3490521624491,
+            120.80186223673341,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            416.75097595109577,
+            119.30186223673341,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            414.15289973974245,
+            117.80186223673341,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            411.55482352838914,
+            116.30186223673341,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            408.9567473170358,
+            114.80186223673341,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            406.3586711056825,
+            113.30186223673341,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            403.7605948943292,
+            111.80186223673341,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            401.1625186829759,
+            110.30186223673341,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            398.56444247162256,
+            108.80186223673341,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            395.96636626026924,
+            107.30186223673341,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            393.3682900489159,
+            105.80186223673341,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            390.7702138375626,
+            104.30186223673341,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            388.1721376262093,
+            102.80186223673341,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            385.574061414856,
+            101.30186223673341,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            382.97598520350266,
+            99.80186223673341,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            380.37790899214934,
+            98.30186223673341,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            377.779832780796,
+            96.80186223673341,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            375.1817565694427,
+            95.30186223673341,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            372.5836803580894,
+            93.80186223673341,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            369.9856041467361,
+            92.30186223673341,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            367.38752793538276,
+            90.80186223673341,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            364.78945172402945,
+            89.30186223673341,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            362.19137551267613,
+            87.80186223673341,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            359.5932993013228,
+            86.30186223673341,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            356.9952230899695,
+            84.80186223673341,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            354.3971468786162,
+            83.30186223673341,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            351.79907066726287,
+            81.80186223673341,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            349.20099445590955,
+            80.30186223673341,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            346.60291824455624,
+            78.80186223673341,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            320.0,
+            64.0,
+            -0.161909
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_21-5-26_1983614030/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_21-5-26_1983614030/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6ca6028670842561b5a030adf8c2d0c53a7aea3f
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_21-5-26_1983614030/pose.jsonl
@@ -0,0 +1,431 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1516.9980677562146,
+            387.4187751490935,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1513.9980677562146,
+            387.4187751490935,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1510.9980677562146,
+            387.4187751490935,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1507.9980677562146,
+            387.4187751490935,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1504.9980677562146,
+            387.4187751490935,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1501.9980677562146,
+            387.4187751490935,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1498.9980677562146,
+            387.4187751490935,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1495.9980677562146,
+            387.4187751490935,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1492.9980677562146,
+            387.4187751490935,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1489.9980677562146,
+            387.4187751490935,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1486.9980677562146,
+            387.4187751490935,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1483.9980677562146,
+            387.4187751490935,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1480.9980677562146,
+            387.4187751490935,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1477.9980677562146,
+            387.4187751490935,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1474.9980677562146,
+            387.4187751490935,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1471.9980677562146,
+            387.4187751490935,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1468.9980677562146,
+            387.4187751490935,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1465.9980677562146,
+            387.4187751490935,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1462.9980677562146,
+            387.4187751490935,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1459.9980677562146,
+            387.4187751490935,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1456.9980677562146,
+            387.4187751490935,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1453.9980677562146,
+            387.4187751490935,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1450.9980677562146,
+            387.4187751490935,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1447.9980677562146,
+            387.4187751490935,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1444.9980677562146,
+            387.4187751490935,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1444.9980677562146,
+            387.4187751490935,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1442.3999915448612,
+            388.9187751490935,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1439.8019153335078,
+            390.4187751490935,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1437.2038391221545,
+            391.9187751490935,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1434.605762910801,
+            393.4187751490935,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1432.0076866994477,
+            394.9187751490935,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1429.4096104880944,
+            396.4187751490935,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1404.0,
+            400.0,
+            -0.375381
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_22-59-50_1476453195/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_22-59-50_1476453195/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d80307fef46592923dbd0f5149081aa0d2e4dcca
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_22-59-50_1476453195/pose.jsonl
@@ -0,0 +1,457 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1684.5144425103308,
+            379.4888483819045,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1686.0144425103308,
+            382.08692459325783,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1687.5144425103308,
+            384.68500080461115,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1689.0144425103308,
+            387.28307701596447,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1690.5144425103308,
+            389.8811532273178,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1692.0144425103308,
+            392.4792294386711,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1693.5144425103308,
+            395.0773056500244,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1695.0144425103308,
+            397.67538186137773,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1696.5144425103308,
+            400.27345807273105,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1698.0144425103308,
+            402.87153428408436,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1699.5144425103308,
+            405.4696104954377,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1701.0144425103308,
+            408.067686706791,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1702.5144425103308,
+            410.6657629181443,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1704.0144425103308,
+            413.2638391294976,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1705.5144425103308,
+            415.86191534085094,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1707.0144425103308,
+            418.45999155220426,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1708.5144425103308,
+            421.0580677635576,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1710.0144425103308,
+            423.6561439749109,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1711.5144425103308,
+            426.2542201862642,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1713.0144425103308,
+            428.8522963976175,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1714.5144425103308,
+            431.45037260897084,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1716.0144425103308,
+            434.04844882032415,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1717.5144425103308,
+            436.64652503167747,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1719.0144425103308,
+            439.2446012430308,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1720.5144425103308,
+            441.8426774543841,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1722.0144425103308,
+            444.4407536657374,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1723.5144425103308,
+            447.03882987709073,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1725.0144425103308,
+            449.63690608844405,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1726.5144425103308,
+            452.23498229979737,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1728.0144425103308,
+            454.8330585111507,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1728.0144425103308,
+            454.8330585111507,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1730.6125187216842,
+            456.3330585111507,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1733.2105949330376,
+            457.8330585111507,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1735.808671144391,
+            459.3330585111507,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1756.0,
+            492.0,
+            -8.00905
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_23-16-18_301373537/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_23-16-18_301373537/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d7956f3f4495dce8e41d73b544a68990cb6e04ed
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_23-16-18_301373537/pose.jsonl
@@ -0,0 +1,236 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1145.5487007893557,
+            376.57975531761946,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1148.5487007893557,
+            376.57975531761946,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1151.5487007893557,
+            376.57975531761946,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1151.5487007893557,
+            376.57975531761946,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1151.5487007893557,
+            376.57975531761946,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1153.0487007893557,
+            379.1778315289728,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1154.5487007893557,
+            381.7759077403261,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1156.0487007893557,
+            384.3739839516794,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1157.5487007893557,
+            386.9720601630327,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1159.0487007893557,
+            389.57013637438604,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1160.5487007893557,
+            392.16821258573935,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1162.0487007893557,
+            394.76628879709267,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1162.0487007893557,
+            394.76628879709267,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1164.646777000709,
+            396.26628879709267,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1167.2448532120625,
+            397.76628879709267,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1169.8429294234159,
+            399.26628879709267,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1172.4410056347692,
+            400.76628879709267,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1236.0,
+            456.0,
+            148.475
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_23-7-32_987987334/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_23-7-32_987987334/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6a4b98d57e8309131c884b2f9698c7f4166ba6f3
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_23-7-32_987987334/pose.jsonl
@@ -0,0 +1,665 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            838.537680835164,
+            733.389152495829,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            841.537680835164,
+            733.389152495829,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            844.537680835164,
+            733.389152495829,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            847.537680835164,
+            733.389152495829,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            850.537680835164,
+            733.389152495829,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            853.537680835164,
+            733.389152495829,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            853.537680835164,
+            733.389152495829,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            853.537680835164,
+            733.389152495829,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            855.037680835164,
+            730.7910762844756,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            856.537680835164,
+            728.1930000731222,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            858.037680835164,
+            725.5949238617688,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            859.537680835164,
+            722.9968476504155,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            861.037680835164,
+            720.3987714390621,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            862.537680835164,
+            717.8006952277087,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            864.037680835164,
+            715.2026190163554,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            865.537680835164,
+            712.604542805002,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            867.037680835164,
+            710.0064665936486,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            868.537680835164,
+            707.4083903822952,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            870.037680835164,
+            704.8103141709419,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            871.537680835164,
+            702.2122379595885,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            873.037680835164,
+            699.6141617482351,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            874.537680835164,
+            697.0160855368817,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            876.037680835164,
+            694.4180093255284,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            877.537680835164,
+            691.819933114175,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            877.537680835164,
+            691.819933114175,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            880.1357570465173,
+            690.319933114175,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            882.7338332578706,
+            688.819933114175,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            885.331909469224,
+            687.319933114175,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            887.9299856805774,
+            685.819933114175,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            890.5280618919307,
+            684.319933114175,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            893.1261381032841,
+            682.819933114175,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            895.7242143146375,
+            681.319933114175,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            898.3222905259909,
+            679.819933114175,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            900.9203667373442,
+            678.319933114175,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            903.5184429486976,
+            676.819933114175,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            906.116519160051,
+            675.319933114175,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            908.7145953714044,
+            673.819933114175,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            911.3126715827577,
+            672.319933114175,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            913.9107477941111,
+            670.819933114175,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            916.5088240054645,
+            669.319933114175,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            919.1069002168178,
+            667.819933114175,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            921.7049764281712,
+            666.319933114175,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            924.3030526395246,
+            664.819933114175,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            926.901128850878,
+            663.319933114175,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            929.4992050622313,
+            661.819933114175,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            929.4992050622313,
+            661.819933114175,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            930.9992050622313,
+            659.2218569028216,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            932.4992050622313,
+            656.6237806914683,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            933.9992050622313,
+            654.0257044801149,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            935.4992050622313,
+            651.4276282687615,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            952.0,
+            636.0,
+            0.96873
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-9_0-27-21_304505404/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_0-27-21_304505404/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..86cac24f68f4046bbae9a7da6236bc143ab6718a
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_0-27-21_304505404/pose.jsonl
@@ -0,0 +1,509 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1121.2131148800327,
+            -400.99243698846453,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1121.2131148800327,
+            -397.99243698846453,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1121.2131148800327,
+            -394.99243698846453,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1121.2131148800327,
+            -391.99243698846453,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1121.2131148800327,
+            -388.99243698846453,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1121.2131148800327,
+            -385.99243698846453,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1121.2131148800327,
+            -382.99243698846453,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1121.2131148800327,
+            -379.99243698846453,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1121.2131148800327,
+            -376.99243698846453,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1121.2131148800327,
+            -373.99243698846453,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1121.2131148800327,
+            -370.99243698846453,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1121.2131148800327,
+            -367.99243698846453,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1121.2131148800327,
+            -364.99243698846453,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1121.2131148800327,
+            -361.99243698846453,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1121.2131148800327,
+            -358.99243698846453,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1121.2131148800327,
+            -355.99243698846453,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1121.2131148800327,
+            -352.99243698846453,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1121.2131148800327,
+            -349.99243698846453,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1121.2131148800327,
+            -346.99243698846453,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1121.2131148800327,
+            -343.99243698846453,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1121.2131148800327,
+            -340.99243698846453,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1121.2131148800327,
+            -337.99243698846453,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1121.2131148800327,
+            -334.99243698846453,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1121.2131148800327,
+            -331.99243698846453,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1121.2131148800327,
+            -328.99243698846453,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1121.2131148800327,
+            -325.99243698846453,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1121.2131148800327,
+            -322.99243698846453,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1121.2131148800327,
+            -319.99243698846453,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1121.2131148800327,
+            -319.99243698846453,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1122.7131148800327,
+            -317.3943607771112,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1124.2131148800327,
+            -314.7962845657579,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1125.7131148800327,
+            -312.1982083544046,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1127.2131148800327,
+            -309.60013214305127,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1128.7131148800327,
+            -307.00205593169795,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1130.2131148800327,
+            -304.40397972034464,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1131.7131148800327,
+            -301.8059035089913,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1133.2131148800327,
+            -299.207827297638,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1134.7131148800327,
+            -296.6097510862847,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1136.0,
+            -272.0,
+            9.35903
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-9_0-30-29_100669/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_0-30-29_100669/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..34e3771c9d4cd97bf86b00b5087838cffa03c93a
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_0-30-29_100669/pose.jsonl
@@ -0,0 +1,548 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            275.7631209813584,
+            605.0361477480176,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            277.2631209813584,
+            602.4380715366642,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            278.7631209813584,
+            599.8399953253108,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            280.2631209813584,
+            597.2419191139575,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            281.7631209813584,
+            594.6438429026041,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            283.2631209813584,
+            592.0457666912507,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            284.7631209813584,
+            589.4476904798973,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            286.2631209813584,
+            586.849614268544,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            287.7631209813584,
+            584.2515380571906,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            289.2631209813584,
+            581.6534618458372,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            290.7631209813584,
+            579.0553856344839,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            292.2631209813584,
+            576.4573094231305,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            293.7631209813584,
+            573.8592332117771,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            295.2631209813584,
+            571.2611570004237,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            296.7631209813584,
+            568.6630807890704,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            298.2631209813584,
+            566.065004577717,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            299.7631209813584,
+            563.4669283663636,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            301.2631209813584,
+            560.8688521550102,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            302.7631209813584,
+            558.2707759436569,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            304.2631209813584,
+            555.6726997323035,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            305.7631209813584,
+            553.0746235209501,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            307.2631209813584,
+            550.4765473095968,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            308.7631209813584,
+            547.8784710982434,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            310.2631209813584,
+            545.28039488689,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            311.7631209813584,
+            542.6823186755366,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            313.2631209813584,
+            540.0842424641833,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            314.7631209813584,
+            537.4861662528299,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            316.2631209813584,
+            534.8880900414765,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            317.7631209813584,
+            532.2900138301231,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            319.2631209813584,
+            529.6919376187698,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            320.7631209813584,
+            527.0938614074164,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            322.2631209813584,
+            524.495785196063,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            323.7631209813584,
+            521.8977089847097,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            325.2631209813584,
+            519.2996327733563,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            326.7631209813584,
+            516.7015565620029,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            328.2631209813584,
+            514.1034803506495,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            329.7631209813584,
+            511.5054041392962,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            331.2631209813584,
+            508.9073279279429,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            332.7631209813584,
+            506.3092517165896,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            334.2631209813584,
+            503.71117550523627,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            335.7631209813584,
+            501.11309929388295,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            344.0,
+            484.0,
+            -1.13109
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-9_0-39-22_177332700/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_0-39-22_177332700/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..67128fb7966c25c3fcfc9b29bedb449bb34acfae
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_0-39-22_177332700/pose.jsonl
@@ -0,0 +1,457 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1428.127619070681,
+            383.05720226597253,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1429.627619070681,
+            380.4591260546192,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1431.127619070681,
+            377.8610498432659,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1431.127619070681,
+            377.8610498432659,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1431.127619070681,
+            377.8610498432659,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1429.627619070681,
+            375.2629736319126,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1428.127619070681,
+            372.66489742055927,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1426.627619070681,
+            370.06682120920595,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1425.127619070681,
+            367.46874499785264,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1423.627619070681,
+            364.8706687864993,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1422.127619070681,
+            362.272592575146,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1420.627619070681,
+            359.6745163637927,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1419.127619070681,
+            357.0764401524394,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1417.627619070681,
+            354.47836394108606,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1416.127619070681,
+            351.88028772973274,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1414.627619070681,
+            349.2822115183794,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1413.127619070681,
+            346.6841353070261,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1411.627619070681,
+            344.0860590956728,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1410.127619070681,
+            341.4879828843195,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1408.627619070681,
+            338.88990667296616,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1407.127619070681,
+            336.29183046161285,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1405.627619070681,
+            333.69375425025953,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1405.627619070681,
+            333.69375425025953,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1405.627619070681,
+            330.69375425025953,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1405.627619070681,
+            327.69375425025953,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1405.627619070681,
+            324.69375425025953,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1405.627619070681,
+            321.69375425025953,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1405.627619070681,
+            318.69375425025953,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1405.627619070681,
+            315.69375425025953,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1405.627619070681,
+            312.69375425025953,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1405.627619070681,
+            309.69375425025953,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1405.627619070681,
+            306.69375425025953,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1405.627619070681,
+            303.69375425025953,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1405.627619070681,
+            300.69375425025953,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1400.0,
+            284.0,
+            -0.375381
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-9_1-32-40_1029621931/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_1-32-40_1029621931/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7dcde5ea450b23ba1b552e9496158e3721041473
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_1-32-40_1029621931/pose.jsonl
@@ -0,0 +1,431 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            921.5974797376381,
+            -163.7120802473837,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            920.0974797376381,
+            -161.1140040360304,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            918.5974797376381,
+            -158.51592782467708,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            917.0974797376381,
+            -155.91785161332376,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            915.5974797376381,
+            -153.31977540197045,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            914.0974797376381,
+            -150.72169919061713,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            912.5974797376381,
+            -148.1236229792638,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            911.0974797376381,
+            -145.5255467679105,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            909.5974797376381,
+            -142.92747055655718,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            908.0974797376381,
+            -140.32939434520387,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            906.5974797376381,
+            -137.73131813385055,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            905.0974797376381,
+            -135.13324192249723,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            903.5974797376381,
+            -132.53516571114392,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            902.0974797376381,
+            -129.9370894997906,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            900.5974797376381,
+            -127.33901328843729,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            899.0974797376381,
+            -124.74093707708397,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            897.5974797376381,
+            -122.14286086573065,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            896.0974797376381,
+            -119.54478465437734,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            894.5974797376381,
+            -116.94670844302402,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            893.0974797376381,
+            -114.3486322316707,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            893.0974797376381,
+            -114.3486322316707,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            890.4994035262848,
+            -112.8486322316707,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            887.9013273149315,
+            -111.3486322316707,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            885.3032511035781,
+            -109.8486322316707,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            882.7051748922247,
+            -108.3486322316707,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            880.1070986808713,
+            -106.8486322316707,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            877.509022469518,
+            -105.3486322316707,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            874.9109462581646,
+            -103.8486322316707,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            872.3128700468112,
+            -102.3486322316707,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            869.7147938354578,
+            -100.8486322316707,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            867.1167176241045,
+            -99.3486322316707,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            864.5186414127511,
+            -97.8486322316707,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            828.0,
+            -52.0,
+            0.708504
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-9_1-5-38_1650994571/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_1-5-38_1650994571/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ccfd134b5df70d9b6993571f94ad58115f7865cf
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_1-5-38_1650994571/pose.jsonl
@@ -0,0 +1,236 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1592.2133348277366,
+            381.89375865061993,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1589.6152586163832,
+            383.39375865061993,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1587.0171824050299,
+            384.89375865061993,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1584.4191061936765,
+            386.39375865061993,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1581.8210299823231,
+            387.89375865061993,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1579.2229537709698,
+            389.39375865061993,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1576.6248775596164,
+            390.89375865061993,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1574.026801348263,
+            392.39375865061993,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1571.4287251369096,
+            393.89375865061993,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1571.4287251369096,
+            393.89375865061993,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1569.9287251369096,
+            396.49183486197325,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1568.4287251369096,
+            399.08991107332656,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1566.9287251369096,
+            401.6879872846799,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1565.4287251369096,
+            404.2860634960332,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1563.9287251369096,
+            406.8841397073865,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1562.4287251369096,
+            409.4822159187398,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1560.9287251369096,
+            412.08029213009314,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1512.0,
+            460.0,
+            122.069
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-9_1-51-58_816976784/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_1-51-58_816976784/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9bdec4d48081c98a24e1851203ddaa9fd24c951c
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_1-51-58_816976784/pose.jsonl
@@ -0,0 +1,483 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            756.3837794904075,
+            601.7068381432648,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            757.8837794904075,
+            599.1087619319114,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            759.3837794904075,
+            596.5106857205581,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            760.8837794904075,
+            593.9126095092047,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            762.3837794904075,
+            591.3145332978513,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            763.8837794904075,
+            588.7164570864979,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            765.3837794904075,
+            586.1183808751446,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            766.8837794904075,
+            583.5203046637912,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            768.3837794904075,
+            580.9222284524378,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            769.8837794904075,
+            578.3241522410844,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            771.3837794904075,
+            575.7260760297311,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            772.8837794904075,
+            573.1279998183777,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            774.3837794904075,
+            570.5299236070243,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            775.8837794904075,
+            567.931847395671,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            777.3837794904075,
+            565.3337711843176,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            778.8837794904075,
+            562.7356949729642,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            780.3837794904075,
+            560.1376187616108,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            781.8837794904075,
+            557.5395425502575,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            783.3837794904075,
+            554.9414663389041,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            784.8837794904075,
+            552.3433901275507,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            786.3837794904075,
+            549.7453139161973,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            787.8837794904075,
+            547.147237704844,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            789.3837794904075,
+            544.5491614934906,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            790.8837794904075,
+            541.9510852821372,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            792.3837794904075,
+            539.3530090707839,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            793.8837794904075,
+            536.7549328594305,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            795.3837794904075,
+            534.1568566480771,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            796.8837794904075,
+            531.5587804367237,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            798.3837794904075,
+            528.9607042253704,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            799.8837794904075,
+            526.362628014017,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            799.8837794904075,
+            526.362628014017,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            799.8837794904075,
+            523.362628014017,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            799.8837794904075,
+            520.362628014017,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            799.8837794904075,
+            517.362628014017,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            799.8837794904075,
+            514.362628014017,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            799.8837794904075,
+            511.362628014017,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            820.0,
+            468.0,
+            126.263
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-9_1-54-30_461851014/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_1-54-30_461851014/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5706bb8aff727e634cfff83412e5a6548fe7d583
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_1-54-30_461851014/pose.jsonl
@@ -0,0 +1,353 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1601.0563528131686,
+            839.8740792390228,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1599.5563528131686,
+            837.2760030276695,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1598.0563528131686,
+            834.6779268163161,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1596.5563528131686,
+            832.0798506049628,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1595.0563528131686,
+            829.4817743936094,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1593.5563528131686,
+            826.883698182256,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1592.0563528131686,
+            824.2856219709026,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1590.5563528131686,
+            821.6875457595493,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1589.0563528131686,
+            819.0894695481959,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1587.5563528131686,
+            816.4913933368425,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1586.0563528131686,
+            813.8933171254891,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1584.5563528131686,
+            811.2952409141358,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1583.0563528131686,
+            808.6971647027824,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1581.5563528131686,
+            806.099088491429,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1580.0563528131686,
+            803.5010122800757,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1580.0563528131686,
+            803.5010122800757,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1577.4582766018152,
+            802.0010122800757,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1574.8602003904618,
+            800.5010122800757,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1572.2621241791085,
+            799.0010122800757,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1569.664047967755,
+            797.5010122800757,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1567.0659717564017,
+            796.0010122800757,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1564.4678955450483,
+            794.5010122800757,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1561.869819333695,
+            793.0010122800757,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1559.2717431223416,
+            791.5010122800757,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1556.6736669109882,
+            790.0010122800757,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1554.0755906996349,
+            788.5010122800757,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1504.0,
+            728.0,
+            1.05537
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-9_2-54-47_1806119540/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_2-54-47_1806119540/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e127e3fd90179a4b7851eefb7243dca669e4ba6c
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_2-54-47_1806119540/pose.jsonl
@@ -0,0 +1,392 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1887.0765577084785,
+            380.7770629532125,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1885.5765577084785,
+            378.1789867418592,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1884.0765577084785,
+            375.5809105305059,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1882.5765577084785,
+            372.9828343191526,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1881.0765577084785,
+            370.38475810779926,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1879.5765577084785,
+            367.78668189644594,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1878.0765577084785,
+            365.1886056850926,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1876.5765577084785,
+            362.5905294737393,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1875.0765577084785,
+            359.992453262386,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1873.5765577084785,
+            357.3943770510327,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1872.0765577084785,
+            354.79630083967936,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1870.5765577084785,
+            352.19822462832605,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1869.0765577084785,
+            349.60014841697273,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1867.5765577084785,
+            347.0020722056194,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1866.0765577084785,
+            344.4039959942661,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1864.5765577084785,
+            341.8059197829128,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1863.0765577084785,
+            339.20784357155947,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1861.5765577084785,
+            336.60976736020615,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1860.0765577084785,
+            334.01169114885283,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1858.5765577084785,
+            331.4136149374995,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1857.0765577084785,
+            328.8155387261462,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1855.5765577084785,
+            326.2174625147929,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1855.5765577084785,
+            326.2174625147929,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1852.9784814971251,
+            324.7174625147929,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1850.3804052857718,
+            323.2174625147929,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1847.7823290744184,
+            321.7174625147929,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1845.184252863065,
+            320.2174625147929,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1842.5861766517116,
+            318.7174625147929,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1839.9881004403583,
+            317.2174625147929,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1824.0,
+            300.0,
+            -9.52448
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-9_4-8-6_631340353/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_4-8-6_631340353/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..43657249c593418ab57576d4b022d6f9c29c02b1
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_4-8-6_631340353/pose.jsonl
@@ -0,0 +1,574 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            116.31376760270516,
+            356.26983417012167,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            113.31376760270516,
+            356.26983417012167,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            110.31376760270516,
+            356.26983417012167,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            107.31376760270516,
+            356.26983417012167,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            104.31376760270516,
+            356.26983417012167,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            101.31376760270516,
+            356.26983417012167,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            98.31376760270516,
+            356.26983417012167,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            95.31376760270516,
+            356.26983417012167,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            92.31376760270516,
+            356.26983417012167,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            89.31376760270516,
+            356.26983417012167,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            86.31376760270516,
+            356.26983417012167,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            83.31376760270516,
+            356.26983417012167,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            80.31376760270516,
+            356.26983417012167,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            77.31376760270516,
+            356.26983417012167,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            74.31376760270516,
+            356.26983417012167,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            71.31376760270516,
+            356.26983417012167,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            68.31376760270516,
+            356.26983417012167,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            65.31376760270516,
+            356.26983417012167,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            62.313767602705155,
+            356.26983417012167,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            59.313767602705155,
+            356.26983417012167,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            56.313767602705155,
+            356.26983417012167,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            53.313767602705155,
+            356.26983417012167,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            50.313767602705155,
+            356.26983417012167,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            47.313767602705155,
+            356.26983417012167,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            44.313767602705155,
+            356.26983417012167,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            41.313767602705155,
+            356.26983417012167,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            38.313767602705155,
+            356.26983417012167,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            35.313767602705155,
+            356.26983417012167,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            32.313767602705155,
+            356.26983417012167,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            29.313767602705155,
+            356.26983417012167,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            26.313767602705155,
+            356.26983417012167,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            23.313767602705155,
+            356.26983417012167,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            23.313767602705155,
+            356.26983417012167,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            20.71569139135184,
+            357.76983417012167,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            18.117615179998523,
+            359.26983417012167,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            15.519538968645207,
+            360.76983417012167,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            12.921462757291891,
+            362.26983417012167,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            10.323386545938575,
+            363.76983417012167,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            7.725310334585259,
+            365.26983417012167,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            5.127234123231943,
+            366.76983417012167,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            2.5291579118786274,
+            368.26983417012167,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            2.5291579118786274,
+            368.26983417012167,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -0.4708420881213726,
+            368.26983417012167,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -28.0,
+            372.0,
+            30.9954
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015454.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015454.png
new file mode 100644
index 0000000000000000000000000000000000000000..caa1b3b79932379ba11a6243868fe4a2c8f487fc
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015454.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f41da03d4a5ee2ee265c2325407522596c0daa97ecb2375a5d81a72b4747a0e
+size 815449
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015456.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015456.png
new file mode 100644
index 0000000000000000000000000000000000000000..3b8ed8bc7ecfea4c6047b9288166318023a77fdd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015456.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68e05eb3c848a62b5b70a1aff29ca802b46c22ff89a83fd843bacea8c91f0bd1
+size 852978
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015458.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015458.png
new file mode 100644
index 0000000000000000000000000000000000000000..49c75cc8be4911b5b0212e89d73dd3024ef225e4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015458.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2f4f6d859725ade14661d9aba2efee7e4ab422a249aae7dbd3e099e894c45ca
+size 825588
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015501.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015501.png
new file mode 100644
index 0000000000000000000000000000000000000000..d26e93553c264780a25021974d6519a0680be398
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015501.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71fe3543bc667f0d0718892909d036cface7ee63fa6f196c5245f481c71b534d
+size 790528
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015503.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015503.png
new file mode 100644
index 0000000000000000000000000000000000000000..09445b7668af40a74aee0e1fa3cb824ea50c30d2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015503.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27aea5ddc535f6d7d531c26bccd10a2361f91bb87c386348cf239d168f4197ba
+size 772794
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015505.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015505.png
new file mode 100644
index 0000000000000000000000000000000000000000..a6f40df680b2f16e7e4cabc3474a742bf622dbc6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015505.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:debfcf038143e76bb360d0f2118e48483d5bf2e90961fffec7179b40f55164bf
+size 762656
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015507.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015507.png
new file mode 100644
index 0000000000000000000000000000000000000000..2fb06bf99ca28b4c8544f4596da2ec9bf589b6b8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015507.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df2fb3302b260f823f23658719bc7a2f661e3d4e9e6881c7c015314b89b60e33
+size 754796
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015509.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015509.png
new file mode 100644
index 0000000000000000000000000000000000000000..1bb2849c7cdc9da1f570b04e65f74766def32d25
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015509.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f666993ce98823db53ff530faf106b6721064a5e0ef3e99e927bc3d060db94a1
+size 748511
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015511.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015511.png
new file mode 100644
index 0000000000000000000000000000000000000000..c873a48c1bfbede485cdf6b67581565aae5f2670
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015511.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:694067d84f7081539f2a74c2f8a38828c9f7199cc22108a0cc9e2b97f9ca1930
+size 744233
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015514.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015514.png
new file mode 100644
index 0000000000000000000000000000000000000000..40b15c1e103fefea652952d3b2e583dcf0e35a77
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015514.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fc2060268971e4dde7fbbf4d0d703cdab150dac3e2f7015a7c0d614efc5de57
+size 745247
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015516.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015516.png
new file mode 100644
index 0000000000000000000000000000000000000000..362d7ec42d930f8304d1cb3097102af94d340386
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015516.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73c2aa5163ed473647a516a6e5b9cc33ad53e7b1aa8c6f2eb82352a1238b102f
+size 746460
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015518.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015518.png
new file mode 100644
index 0000000000000000000000000000000000000000..211d41b564d2037275b1e597760d5a6ff569c29a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015518.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:112cb951ce9b8bbd6f5fea7a1752310464b84126cca4a98a9b4257af641a4314
+size 748736
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015520.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015520.png
new file mode 100644
index 0000000000000000000000000000000000000000..fc4463ee394bf0668b3a5ff7f35a65854e659d8d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015520.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fd5ca64001ba4052b40522e1e27e3f577126b1a692abea773c8dbb66c2b0b79
+size 752875
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015522.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015522.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c9c108e2ba43e159f907f28773f59b9c0546bd6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015522.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9778602fde69b37dfd4406dcd59ae93b81b6e17d3ff8a5582a54467b3b7161ca
+size 756908
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015524.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015524.png
new file mode 100644
index 0000000000000000000000000000000000000000..0df8a4745b6d63d9a82d33064a1966eac7c9cec9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015524.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8486cd3e009a0caf8572fb2c4ce1d861510f3e66c1b0bb4b37b92c44868d9ef
+size 762575
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015527.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015527.png
new file mode 100644
index 0000000000000000000000000000000000000000..fd1f51c69a396d6117e2ccc9b024af0115b9fab3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015527.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2de8db7626ce28a5028b0080e96286a7503eeddb7138a3a8f9404ce7dd274fc6
+size 766353
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015529.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015529.png
new file mode 100644
index 0000000000000000000000000000000000000000..942ff8d9466d67200a57b43a7282b916ee6f89f5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015529.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7578c917e3c7d7828f492e940283e3b86e2249dbeef4155d2e969931bd07f418
+size 770784
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015531.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015531.png
new file mode 100644
index 0000000000000000000000000000000000000000..131c7b60ff70580c9317348fa3c0cbf74fa36aeb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015531.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:036612b91af05e282c4ce4b97f39bf7a19f87eda929c1339c7c2afca0bf62264
+size 773334
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015533.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015533.png
new file mode 100644
index 0000000000000000000000000000000000000000..bce55757667d55b4e697542e5544fb8540d9ab83
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015533.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b28d8fabc5e1fb233ce3b6efa9053380b601f6712f5253e0a77f6f616977459
+size 775907
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015536.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015536.png
new file mode 100644
index 0000000000000000000000000000000000000000..44f777cd6eedcf1af399891bb459e055b8329671
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015536.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9f77bba338991b2f0b8afda7ef989580136d41eb4ac482c93ca9041cbfe8cb2
+size 777842
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015538.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015538.png
new file mode 100644
index 0000000000000000000000000000000000000000..51ab2ac358fbe94d4eb25f5f8ef123cddcf7fc5e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015538.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41cda4832914e889c5b328d8df354e79421278e785e2cdad84c259c8e85142f9
+size 776492
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015540.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015540.png
new file mode 100644
index 0000000000000000000000000000000000000000..252693195da15d81bac23bfa213b225ce18557a2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015540.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e42b10d79d7953618f7827ad49f2dcafdca119857f5e3dc5846b84a59f58b819
+size 776751
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015542.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015542.png
new file mode 100644
index 0000000000000000000000000000000000000000..6f0bb5509d02176bb956d470615582457cab97dc
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015542.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7fb30774ec659801f104bf0d616edeb9d057c64ac2116fe4931106f4b3ad009
+size 775890
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015545.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015545.png
new file mode 100644
index 0000000000000000000000000000000000000000..24d110049baaad184fa23e1e48ba10797a248449
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015545.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2dbb5b90b274b51240abf2661beefa7c3b3bbb0c89bc547c9e1a254d38886881
+size 775637
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015547.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015547.png
new file mode 100644
index 0000000000000000000000000000000000000000..b8136b1b9caf57659d1ecafa595dc8582d622d8e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015547.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3fb7149dd25d845ffefd43f895fc5416a7b8ec7d1065c6ca1ee04f812587e4a
+size 776664
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015549.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015549.png
new file mode 100644
index 0000000000000000000000000000000000000000..ec9aa49a4ecc670cac7030a533e4d9aa211d8977
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015549.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82c442e66387b880fdfdf0da0298bd2a64c7e6147907a2a47584e1fbf6cf2a87
+size 780425
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015551.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015551.png
new file mode 100644
index 0000000000000000000000000000000000000000..b8a4845860fce3a99617b454b7cfb4f391db7b9e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015551.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e052a238a9bd1f869908385dbfae029d3202fb77a2902f6b16a89499ba54a5e2
+size 783055
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015554.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015554.png
new file mode 100644
index 0000000000000000000000000000000000000000..4fa62723bab750e877e5a923d364350dcced55ff
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015554.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52ffa4af3308b411e67bbc8f970fbdb748193d2f1319caf50d8279cd7ecdd438
+size 782422
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015556.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015556.png
new file mode 100644
index 0000000000000000000000000000000000000000..2f11547b3b4efc30da6d42f225991b4d0f6d799b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015556.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6774a74a9c3379966b9da565092206244dbbb527fa62fb1d539053cfd951df78
+size 780808
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015558.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015558.png
new file mode 100644
index 0000000000000000000000000000000000000000..ebb4629fab85d9038cc55393c7b32edbb6d13193
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015558.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d49a3624300b61b3e646d18be8e3cc855d1b0451e8b447134074fe55c753dfb
+size 781858
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015600.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015600.png
new file mode 100644
index 0000000000000000000000000000000000000000..6696646648910fa7d6f53c63d69c7d8952439f5b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015600.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:600d5e77aa09f9fbae28f584b8f4955fe09be1be9fb8e09583641550e8d30057
+size 780384
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015603.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015603.png
new file mode 100644
index 0000000000000000000000000000000000000000..3d28b5a986219cfaaceacccf1d7c02a5641ec296
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015603.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:750f15ce05b48d329b8b8e0ccf865d5e63f1ba6813dce04a6659c035c4c2ce88
+size 740733
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015605.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015605.png
new file mode 100644
index 0000000000000000000000000000000000000000..1abdab196b253c5b6124784b9a87cf1e3e5fd1b3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015605.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c11963eec82f040f692c6792206401f869f2273ac6174682e1d65a07395ae95
+size 741750
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015607.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015607.png
new file mode 100644
index 0000000000000000000000000000000000000000..190919b5bc6b682daafb209950b36b004210343b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015607.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90c81540ec3259d8504d72cff84de3ee33d1201956111a75e4b7a082ab1d6bcb
+size 741945
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015609.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015609.png
new file mode 100644
index 0000000000000000000000000000000000000000..8b80f2b287558ee6da1da2bb2a6fe2e22cd85a92
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015609.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:622e95d005cb7946629aa3fff03ec9c5cc64442e57183e173f28aea413c33c62
+size 740633
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015611.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015611.png
new file mode 100644
index 0000000000000000000000000000000000000000..965745dfb4dd13b8287c057ad4612870b4058187
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015611.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56fb7dff9ab9ed3d4a704c599b9126ca193562f3f2ff043a0305a94564fbfb78
+size 739851
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015614.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015614.png
new file mode 100644
index 0000000000000000000000000000000000000000..bd2ac546abb59dbdbcb5c426d320d3bf2c698a0c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015614.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c4e5135b48590d9b80101a7aa83fc027e27e57c0a3f2fb79a5418cf725872a4
+size 737231
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015616.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015616.png
new file mode 100644
index 0000000000000000000000000000000000000000..ac8c4096bb92a280aebce310568426d6a996047a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015616.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3836b00e4cde0d5b8de7dcf87562d31e3ad426c452d747a2480bb2c259e2b5d9
+size 740415
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015618.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015618.png
new file mode 100644
index 0000000000000000000000000000000000000000..98df006b07c93e78ce0d0f9a36a1379689d7a377
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015618.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fff2037f68544be4cb13580027f73ba1be5bd25a487751074bb9af44590d88d7
+size 742877
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015620.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015620.png
new file mode 100644
index 0000000000000000000000000000000000000000..31e543a785896e9c22388abd5eb96c8dc75fd4a7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015620.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84bb79d6e40646176c878f5100003d536375b1f40bafd994d698eda43df50bdd
+size 744847
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015622.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015622.png
new file mode 100644
index 0000000000000000000000000000000000000000..b815c3c7f274b2df68bd15c9fc0e92db591e6ccd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015622.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:160e6c16c01cdbb237e2ea4bac97505aa9a7dc4d75bd758b6598b37adb9217e5
+size 743585
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015625.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015625.png
new file mode 100644
index 0000000000000000000000000000000000000000..3a1b16404868334cf653d0c907b160a751c55b69
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015625.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0855d5adc80ea02ba97cec6f42667c9f5f25cc2e180610fe208c3d3c0c352225
+size 732171
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015627.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015627.png
new file mode 100644
index 0000000000000000000000000000000000000000..287f605dbfee0e007c5ca649f5bf230e8bee5f1a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015627.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4aea624892173fc07bac2eb7fe84d00711ddf5fee9244a47d0ae90bb26012912
+size 713090
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015629.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015629.png
new file mode 100644
index 0000000000000000000000000000000000000000..e5614b5661cebff6e1ed80f91b0030cdce3ed98f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015629.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8f5ddcb2e88077bb1d51042de1d4db1a995c04db3e6c462e91a91b92d183caf
+size 694035
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015631.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015631.png
new file mode 100644
index 0000000000000000000000000000000000000000..0def015062c164ecbb9feb075d896017ffccf2fa
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015631.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:863d1fd5bff297f270b7886a9e0f5b3ff9324d6b1f0e38bab16ca2cd89808794
+size 686986
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015633.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015633.png
new file mode 100644
index 0000000000000000000000000000000000000000..f117f0ab095b667ce8f2ad662723200690e9c179
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015633.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bec1fb1b5e69507c8ef529988d30afb44c3bfaffc09a3303225f07ff72e19b4
+size 707954
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015635.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015635.png
new file mode 100644
index 0000000000000000000000000000000000000000..728adb4a74460f9e1dde92e7c30f9f37335d51a7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015635.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc5cba84dcbf252d44cfb9320c9974daf97dd19f5f9ba9ef67d875766bf3017f
+size 714573
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015638.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015638.png
new file mode 100644
index 0000000000000000000000000000000000000000..9a74a678c2e57b455547c73309335692fd654e88
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015638.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45cabc5f5472692327f9a3ba1cb6ebcf59b249c4960b4abc8018f7d64da2cd11
+size 721650
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015640.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015640.png
new file mode 100644
index 0000000000000000000000000000000000000000..7ea74de551c84d69af5e89cf929da1cb2f0f7457
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015640.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75a53f53bc4affa55286160e9f61fbf50ffd5a5c870bd950044c0be3f3676c04
+size 726643
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015642.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015642.png
new file mode 100644
index 0000000000000000000000000000000000000000..6605ec42a0536d6f48d88f7dc0258a36a60606bd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015642.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22a8b6333f1d45a0b892ed652aa383cb171822273a0974c01180fdf08cabdeff
+size 726796
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015644.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015644.png
new file mode 100644
index 0000000000000000000000000000000000000000..05f28225d5a2d43ea9fd86a60114d7b1e594a9da
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015644.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b53304083433ffd03d03e3ce2c3c6ede86b9ca9ef6bec220c5668062a4f9500a
+size 725449
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015646.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015646.png
new file mode 100644
index 0000000000000000000000000000000000000000..93d03fda353db5f705664966cb112069da4623be
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015646.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1799abae39dffb655c71f7beecfcb89bb9d5b1b997cfe91627fe32eeefc93043
+size 729271
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015648.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015648.png
new file mode 100644
index 0000000000000000000000000000000000000000..6dea6a579b0a175ce4e4e95afc873620bfe07f35
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015648.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39e071eea8f533e18edf10576e955716511f92f8eba6b78c79d7250d0f50bc85
+size 734567
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015651.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015651.png
new file mode 100644
index 0000000000000000000000000000000000000000..9601a1b83f5ea7856690d69acadcad755ecc97a3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015651.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:175196d163c079ea9317a52d27712ee5de967c5769bf79a466f2223d861ebf32
+size 734713
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015653.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015653.png
new file mode 100644
index 0000000000000000000000000000000000000000..c0ea269958db4910c034fe5da78e280d28c3466e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015653.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6446df96b10bdafdbc0e85d1a7e6964b75d1f96892f271fdeed121bcc4e36d13
+size 742701
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015655.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015655.png
new file mode 100644
index 0000000000000000000000000000000000000000..c9826381d6fc75d9bece6dbe3f72340d9dd2d9f3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_1-54-49_76065818/20250115_015655.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43fed98ccbaddbde86b4d75e39d1b4d87f3bfade5b0f6fb20024a09b43543f93
+size 761914
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202307.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202307.png
new file mode 100644
index 0000000000000000000000000000000000000000..6ab27df6ec0a4263ce258aec4b37893c199004d6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202307.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5de16980072b9f67eed0d69c9147cb15f64c9750a2ce246eea71ac6e5c1dc6c7
+size 610675
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202309.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202309.png
new file mode 100644
index 0000000000000000000000000000000000000000..0db2b996f51f2db72bcb35d3965b08bc61d2be84
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202309.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fafdba126bb036524432ac4dfe20bc584c4c71d1f112f7a2454b07c21f1f7326
+size 925278
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202312.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202312.png
new file mode 100644
index 0000000000000000000000000000000000000000..027fe69e87390c8644ccf4530a98ea09266a315d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202312.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fee8f77674b7873b4f6b8d796b3559bc5dbf284a03a3b79cc30bcfc629d6341
+size 914199
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202314.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202314.png
new file mode 100644
index 0000000000000000000000000000000000000000..1e3699d0c309107e6f7fa88f4b339c941d02796a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202314.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6dd88af0d2e599d353bbb08cc4e46a2adda2b09c02d1d7ac4e32e91024c71243
+size 913237
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202316.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202316.png
new file mode 100644
index 0000000000000000000000000000000000000000..9d113107f89468f0394785b3cab22c9af1a79d28
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202316.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6758be4e5f6afba8fc2a43d59f3675ad8aa433734cfa970acaefae946d1435b6
+size 913836
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202318.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202318.png
new file mode 100644
index 0000000000000000000000000000000000000000..236a4af682c399986fd12399c582d33e5aff7161
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202318.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46f4576c560b42a660130c093e2a09c921b0284f154318e0230af8ff765dbbd4
+size 920339
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202321.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202321.png
new file mode 100644
index 0000000000000000000000000000000000000000..8e4a028d365cdf1201794638d4c18916a9a7ce3e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202321.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd64845e1e992e480eccc5fa277972f91143a4a5f810a7294f8007c7e4e382c6
+size 923170
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202323.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202323.png
new file mode 100644
index 0000000000000000000000000000000000000000..9adca3e77c2c96a170084a6289fb2b3849d0b282
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202323.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa3ed5913f28b2665a84e22d1ab69a4ac9b1cb80473f63f4300ddc765bd8ad0b
+size 930498
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202325.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202325.png
new file mode 100644
index 0000000000000000000000000000000000000000..4a14dad2882cebd8826f5bd5af87c602998d719c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202325.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7615ef418fc1226310ead3896eb19f95410819f84a0399637118f85d8355bab5
+size 931317
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202328.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202328.png
new file mode 100644
index 0000000000000000000000000000000000000000..2648b3f91837b1ec06612eaef4b73549582e9044
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202328.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1926506a68fe4d29362a1b0c4619f124b2dd4893a105e9e98015a2a028a18545
+size 922700
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202330.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202330.png
new file mode 100644
index 0000000000000000000000000000000000000000..b628c2bff7da581e4143fff048244b3447e07c3e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202330.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95fd86c84ed7ed720dd71c85ddfa9e6a0ce2ccb4e16f545fcdc8e986b514ca10
+size 913799
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202332.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202332.png
new file mode 100644
index 0000000000000000000000000000000000000000..a8d22a11d1129204392ca695fc487e9aa68dcc94
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202332.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eea6ecd597b0163e04067f78e3a932b943c039150d68a0b0db3a3c6397e2a4ec
+size 909340
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202334.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202334.png
new file mode 100644
index 0000000000000000000000000000000000000000..8a8025f7ec007105133d65d586ab96edbd133688
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202334.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d403ee0a5f651fa4091da24d7b2d37fd6df3e1acd08ae6ad25e75cacc8c588c0
+size 904532
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202337.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202337.png
new file mode 100644
index 0000000000000000000000000000000000000000..1ceea28b610f5e2482efca1ee09f601ddd712975
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202337.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30737f189c4b089411bfe193603e120059cdccb96a30c21b67b8757d694f5359
+size 901970
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202339.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202339.png
new file mode 100644
index 0000000000000000000000000000000000000000..1cd735d53a1a375bc0070f74ff423ec20ccbd44d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202339.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7865fbfa68241a451ab2f49b7778d7bfd7784d8bebe88908a3381791756ca5c6
+size 899907
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202341.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202341.png
new file mode 100644
index 0000000000000000000000000000000000000000..d466d063ada5abc96e6cc7a91da78dba2a96c49c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202341.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b476b195c6751eec557816e8163b8b0f471e0085a0f23a8ab85570ea75aa9cf2
+size 897651
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202343.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202343.png
new file mode 100644
index 0000000000000000000000000000000000000000..f1c156dc4028bcfaa2c113e2d0b0e17f7bd8812b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202343.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:835f273d3817441723bc90665ff8f3f6ba527ba6f9c2c4f0088810242ed83fad
+size 894123
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202346.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202346.png
new file mode 100644
index 0000000000000000000000000000000000000000..347e9dcbad5aba776199352f2d1118f380840478
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202346.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9ff42535147cfe1057e924fbf1480d960fd80dcc95ddbd43f28858ded88a58d
+size 887463
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202348.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202348.png
new file mode 100644
index 0000000000000000000000000000000000000000..262eb43c76945260a0f1c0d951ec93885be65f30
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202348.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62e25f3c2cf48383589b251e0819be978dd5c97f0ea37e8d9e3937d2e6e55fd5
+size 877800
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202350.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202350.png
new file mode 100644
index 0000000000000000000000000000000000000000..bcc954e4e88c5732f9141b8abecc67d6b3d68b0c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202350.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f321c3771aef2e31b8cb0debe99a6a04d1b2de41827259094c4036ee6d5cbe1d
+size 879274
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202352.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202352.png
new file mode 100644
index 0000000000000000000000000000000000000000..4634a7c39597071effeb49f4294444d3d179017c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202352.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d679b4fecfc64540d2365f7cd086885f870972404241ee1bdcb59264b9eeb86
+size 873573
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202355.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202355.png
new file mode 100644
index 0000000000000000000000000000000000000000..8a5312dd28da25b441af68ba5c34b380bfaaee4a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202355.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0a2c988001132819aa5e0d89056cf1f656fe30f4dc0bac6886b145175491f6e
+size 866461
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202357.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202357.png
new file mode 100644
index 0000000000000000000000000000000000000000..939cdf76e36d8a9e5173bbdb2cc6c6f60aad5f7d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202357.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0feed5bb67d4ac4d1fd2c652703cdffef4fb873d1bea7fa77575e60618f3d68b
+size 857356
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202359.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202359.png
new file mode 100644
index 0000000000000000000000000000000000000000..015cb6fe0cac5caaa59f4d96b082a41cf03d0c64
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202359.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d21b187140625c8fcc004edfd20f7724f5ce9aa623d789392c1c137a9eb02b90
+size 849991
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202401.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202401.png
new file mode 100644
index 0000000000000000000000000000000000000000..a8e943f03aa807e3057514adadfc844d6e105c2d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202401.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3687062ccbdbc5aafe65df26398bacd0360ef9c21c6ebb5bfd24138b9b39318d
+size 837145
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202404.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202404.png
new file mode 100644
index 0000000000000000000000000000000000000000..05fea7358fabd8753f9f7193a4c14471c51288cf
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202404.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e948fdc31a4d7384813030b9a806b3b83ea9ff8e48e0e7e1329110f9485be990
+size 823994
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202406.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202406.png
new file mode 100644
index 0000000000000000000000000000000000000000..0d508d90bace7251a5ca44e2c29e2aac927bc3b2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202406.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4636df3e597a5dce16781944c22d3089eac6dee833458d4aa7745a55b03ccc2d
+size 810500
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202408.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202408.png
new file mode 100644
index 0000000000000000000000000000000000000000..0e6409b258596155b590f94b54af35c2827d58a3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202408.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32bf377b6398be372a8b47ed4b2991406e1c1b8179f8713b5dbcf0c87bae4e05
+size 789858
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202410.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202410.png
new file mode 100644
index 0000000000000000000000000000000000000000..23f8d2fff0db664145928419acaa77ada588d85a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202410.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5acfcbb63ef5f5739f3cf179392e1f4f9a4742ba8c778474c79375e962953f98
+size 771297
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202412.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202412.png
new file mode 100644
index 0000000000000000000000000000000000000000..8e73b35d363db04bb4618e1294279feeec6ff873
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202412.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e39c1c809cea5946103e90e2e0f81ad94a0e494fca879edc3b79568307b307fe
+size 771706
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202414.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202414.png
new file mode 100644
index 0000000000000000000000000000000000000000..2e59e75b63616a94d5eff80935d2ef44bd103ca9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202414.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5b6bd54c6cd7234181dceba88c6d58da65933c9b6cd1112e7eb6b30976e0173
+size 770512
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202417.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202417.png
new file mode 100644
index 0000000000000000000000000000000000000000..9e2f96609bca5f1d7265a9e46519519e0240ba91
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202417.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af040da8f724991d89ad7701c2b008914479319b5b363a6ec013320567582e08
+size 769514
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202419.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202419.png
new file mode 100644
index 0000000000000000000000000000000000000000..65f8e18baa990854608ff1e189eb7290130f68ec
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202419.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44b2f7b7957ebc71a95e7f300b19810bb842af288aa11229b107dafa64312f39
+size 767839
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202421.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202421.png
new file mode 100644
index 0000000000000000000000000000000000000000..e24e21e61c9577da54bf23acde9b0f5244bcb24f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202421.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26063f862c1c17f1f331ff790d68bf5bef2c4d64ebe097214bd794064dc19428
+size 767857
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202423.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202423.png
new file mode 100644
index 0000000000000000000000000000000000000000..f79f2751cc058518a12a40f188cda258633051a5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202423.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a587be4e0362e756ea1a9a7f69ef32a07e61570b789c2c32dcb991188abf11f3
+size 765370
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202425.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202425.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc3dc1741d894fcf4eef9b939957b0c086e7811f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202425.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5fea9392d549f07ddbd2c6a5d650de08bec3e37ada449fe9027718b754b4972
+size 759250
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202427.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202427.png
new file mode 100644
index 0000000000000000000000000000000000000000..bf2879e51bf77f19c14c50dec9dc0c2fb9094b00
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202427.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4204a724da0f30c58226e4f3e5ee133d191c29bdbc11b96f018e61391a730790
+size 758909
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202430.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202430.png
new file mode 100644
index 0000000000000000000000000000000000000000..66cce81214a411fe9d996dc119e835c4ac7f5059
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202430.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4b092bfe3bce864e2a047ce84eef243ffebfddcf3d785100966a8895c9979af
+size 756380
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202432.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202432.png
new file mode 100644
index 0000000000000000000000000000000000000000..92b72fc133a3d4c2ed449f6fd542d220aa9cef11
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202432.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f84997c9eaec7521edf52ea87760cd327cb895557fe10b7325c34127da5866c
+size 763678
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202434.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202434.png
new file mode 100644
index 0000000000000000000000000000000000000000..bf1ccc82def438d8eb6029e41211da1306c95a89
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202434.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40eb08708c93297da4ee718c5a88adbcfdf8a60dbe94db7e583d11c875712e09
+size 767154
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202436.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202436.png
new file mode 100644
index 0000000000000000000000000000000000000000..97924988417764bdefab0fbc13b9e09cac66bf3d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202436.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d71abfbe0931b3c260bad736eab3694a8cd347f9d818f166e0b6d104a87847b2
+size 762389
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202438.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202438.png
new file mode 100644
index 0000000000000000000000000000000000000000..1d8ca52f5b1b0fddac8b162908a558745f594cb0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202438.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eeadfd7a121a401dfa58f86f080cb00cb278865314956da3761e1499499cf108
+size 773766
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202440.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202440.png
new file mode 100644
index 0000000000000000000000000000000000000000..ef7f5dc9e90ecdb0364f66e21afaf251ea6a3827
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202440.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:061d40a35cb0c9bec5b281eab487424399a38f347a84fa6e79c3b439b13777df
+size 774132
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202443.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202443.png
new file mode 100644
index 0000000000000000000000000000000000000000..8c6bb71e37ee8a1a8387f32fdb8905bb883c36ea
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202443.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3e24c3ceaad55fedafa5ed18b5edc374595e48a0a8aa6d25a4acb0566580bf9
+size 778669
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202445.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202445.png
new file mode 100644
index 0000000000000000000000000000000000000000..0d41c8203c6efc3a717d531fec6b10bc1abef378
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202445.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24522e3a5507369082f8775b71a6fd9b24e64c17a7a31aa80246e866434b6bdb
+size 784721
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202448.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202448.png
new file mode 100644
index 0000000000000000000000000000000000000000..03a0ed8291d1f50e13cf812194bb293aa3e01116
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202448.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f11d5d2b40b0d70bab861659fa8ffbb1a8ddc80c136783b9508b808bf2a6f19
+size 776217
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202451.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202451.png
new file mode 100644
index 0000000000000000000000000000000000000000..471ff5243f39fdeff5f3bdf0144ccf567755266b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202451.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e9ba96902b68cfd1bfaca73b5aaac26f3f08b996dd8986f5e1736917ecbf3ab
+size 752187
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202453.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202453.png
new file mode 100644
index 0000000000000000000000000000000000000000..e15ed1254a83f38e9b39d18ae51d41f9cccf7303
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202453.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0dc7698e6d884e2be4c63f2a888197db34b5a08684e09d8937a44bce69692ab
+size 739950
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202455.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202455.png
new file mode 100644
index 0000000000000000000000000000000000000000..82885d56411bcd8369df96ac57c4acf13a202ce2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202455.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f3ac0707f0446649b3872e850332efca622d782106ba904b4e502ab4357c7ae
+size 721675
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202458.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202458.png
new file mode 100644
index 0000000000000000000000000000000000000000..4892944a1e0fc231d8df7983575a99e8c4809130
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202458.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67e49e00a67ea332bfe2ce9c30da1090ddaed501bf39e89036d61f1ef51925e7
+size 717784
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202500.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202500.png
new file mode 100644
index 0000000000000000000000000000000000000000..3ce1146da0ba439c4c747829ef5cd6d8662b080c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202500.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0833037b592e5b39b5d080c0f4d1929e7484fdf20051fb0549f79b8401866aee
+size 720730
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202503.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202503.png
new file mode 100644
index 0000000000000000000000000000000000000000..543948ae257b3f7b94f77c86a9bda788244c6dbf
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202503.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68de81b614222f51c95e3c4913930cfcce8f719f790da31329a308be2e49690f
+size 721149
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202505.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202505.png
new file mode 100644
index 0000000000000000000000000000000000000000..288c8f48dd1047a6857d23935184845c72732522
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202505.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e08b5281ff31efe26c1b31149e26b8e4d4e7e1df903741a821bb8733c6437221
+size 719202
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202507.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202507.png
new file mode 100644
index 0000000000000000000000000000000000000000..50cac3e5246a89fc202b657bad58c8d73d5cac24
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202507.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0fffc83cbc0f17c8976571ac6e236939b114d7a62596487e0588f35ba82a82c
+size 719184
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202510.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202510.png
new file mode 100644
index 0000000000000000000000000000000000000000..4437db9bfdaf8ad4c7230ba7cd069a45745d9918
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202510.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94235eddf00c68f21a3b236359692c626d7a5eddf43d5a4beb57f837a64b8b71
+size 720292
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202512.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202512.png
new file mode 100644
index 0000000000000000000000000000000000000000..2c3d29ba0893fd28ac8dd9f063a3047e2da706c0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202512.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8dae6a31172ad6f6d3538c7be1f04ae78d70b526a79ef5a817d098f7ee2503e3
+size 723404
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202514.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202514.png
new file mode 100644
index 0000000000000000000000000000000000000000..689ada7a44f61957aef883681b4abe5d83eb3494
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202514.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87c84487f1d831f8e768fe2b8d19b8de092f6b8bc815f7dd5c29e43c3dbe11dd
+size 741382
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202516.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202516.png
new file mode 100644
index 0000000000000000000000000000000000000000..2c10da9cebad6d11c4970f08c152b420bb920bc7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202516.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d8c2c76e3a36983c51a917c4fb8feb06fc5112c5a2c26dca4429fd0ff6f9b26
+size 768893
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202519.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202519.png
new file mode 100644
index 0000000000000000000000000000000000000000..b92f609eec1581a4e509507c8846b2a6594ddf5d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202519.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f4c1f8364bbcbc32a44a75d2b3bd799ee074ce4a71f88208b6871efcc6ac172
+size 768715
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202521.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202521.png
new file mode 100644
index 0000000000000000000000000000000000000000..da8390f2819015303cd6171299941fbebd1a3bb7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202521.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93619722e8c232bcf18e9cc5dcd5dc02635af6cb6e0d6a13164598d82d1c8401
+size 747947
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202523.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202523.png
new file mode 100644
index 0000000000000000000000000000000000000000..c3f815d77a9a9eb373b60a55b7ea006a7037da8e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202523.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2090c7db66d1ea2d51d62322147b4620e73643e936efb9b94006f15164332462
+size 717015
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202525.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202525.png
new file mode 100644
index 0000000000000000000000000000000000000000..7518ae72ae608305d785c9b3edd889ea020dada6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202525.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9eeca5e4ba6b3795d18e4bd6cb39b7c951f30621a9337931181aa83a7859a044
+size 692466
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202527.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202527.png
new file mode 100644
index 0000000000000000000000000000000000000000..cf02eebb545db71f68a602248c3d0e6095dbe70d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_20-23-1_51245830/20250115_202527.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10a6d134300472c24115cf8c4178a91723b04f2610696c2001502f7c9f5f1ef8
+size 527617
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081137.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081137.png
new file mode 100644
index 0000000000000000000000000000000000000000..9b2ec2eb8958ad734c3b2b23ebd8e01faf83d2ea
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081137.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ead95ebbe3865cccf6c014bc050b7dcdf3eb55ef698956dd548ab3fef48020d
+size 825432
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081139.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081139.png
new file mode 100644
index 0000000000000000000000000000000000000000..c15dd94eb94ac115ba36129a018e1a2d4142ff04
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081139.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eeb091b5963bde87a2922dbaffc6c87188ad935c4dc92b5a425809aa01d42e77
+size 774413
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081141.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081141.png
new file mode 100644
index 0000000000000000000000000000000000000000..58e1ea13cc9e363bdd9866a13fe9d45d1269e8d3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081141.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d44517157bcfd3db31443b9c5cf82ebad176f692f61828d9bd493ae66070eff
+size 767906
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081143.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081143.png
new file mode 100644
index 0000000000000000000000000000000000000000..49eab5992d74a6694f1fb40acc5e1ea9aec8a3fb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081143.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1dcd24f9ec8f1b0058db2a35b18275776e1eecd44d3be4b40f2d5393df677b30
+size 767035
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081145.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081145.png
new file mode 100644
index 0000000000000000000000000000000000000000..f4da8e160ab9dc44d2722eef8e114eff3378e8f1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081145.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33c3b794571b3a99c1e75186141ec03466afb5ac9cd517282e116112c4b29d97
+size 770048
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081148.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081148.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c9dab01b26050b1187bd320b99cd87e66880b92
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081148.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a642fd5b2902311621bdb3f31e47d2d6fdd0e4fc6220069cb44f56edd88a624a
+size 772219
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081150.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081150.png
new file mode 100644
index 0000000000000000000000000000000000000000..9bd1cfc64f214460ed33d259b77f248016f1054b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081150.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8297c01fe442524abe90d5a73490a5bbb4c244b25a7217bb38f4f5b7d078dccc
+size 772263
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081152.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081152.png
new file mode 100644
index 0000000000000000000000000000000000000000..86414dac7fd6103134cb53070fdfa6368b746035
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081152.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd557969ae7d6ccee8e0b62ebc25698e668e9d969a7813c7a1eb47fec33079ce
+size 773390
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081154.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081154.png
new file mode 100644
index 0000000000000000000000000000000000000000..43b82fa0ec0fb772fd129648420e29c6b0c2f775
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081154.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9053927f627124eb38059df23d21076ed9e21ade11bd2a53cfad273fb6c2efec
+size 770048
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081156.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081156.png
new file mode 100644
index 0000000000000000000000000000000000000000..e29640e09be490710bd653073b5fc7fe49d2e367
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081156.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d01c3a9dd7e763b4d4680b8cb8b70b6ad22791684e7d3cfdf06e257cfd417da
+size 766584
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081158.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081158.png
new file mode 100644
index 0000000000000000000000000000000000000000..55c17095d16191c261f8f46a512ff5838748682e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081158.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c92bca42cd1b0345178547cecc632c360bf039def6724e1a1eb25450e5a41e0
+size 758276
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081201.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081201.png
new file mode 100644
index 0000000000000000000000000000000000000000..c79efb7b3a51178daa5c176c6be0f3bf6e8ff80a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081201.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9dac7acd72faea38766d512ee41e56c8323c47f1bcd7b4d17cfe9dc07f98dbef
+size 748162
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081203.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081203.png
new file mode 100644
index 0000000000000000000000000000000000000000..c16f8f835e13fe6b54c84e47fd28d61da83e95d5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081203.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71e6ddbd8d89ca330e3c69dc540e3a37379abba93a3c0ff0ae515a1c0b8cbd79
+size 739662
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081205.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081205.png
new file mode 100644
index 0000000000000000000000000000000000000000..46cb8490e3db6e168fbe46da7ee3139a44eb07fb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081205.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd9fa4bf50272258ea53e5813c9cbc81f2999e3eb08c38b56e283914b9434f80
+size 736429
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081207.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081207.png
new file mode 100644
index 0000000000000000000000000000000000000000..bf13631669d13280dd679c764a4de22679caa6f2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081207.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3be84f33d646c53be4c17ab77b3724a451f8e5b5a3f6d06e7637ba82adecd14a
+size 734276
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081209.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081209.png
new file mode 100644
index 0000000000000000000000000000000000000000..ff1927e606301f1da751a5b42bffc4e5cc782644
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081209.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11df463c87c077e4051143464ba3821c0ba111976d12588317cf8bf1d605327c
+size 729175
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081212.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081212.png
new file mode 100644
index 0000000000000000000000000000000000000000..a58aa8cd2eed5bd3a97c6e4131d271259fb2e85c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081212.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d9a59dbfd1c4f2e1e6243a5445b6340906fcceb39dd4a11dd5c6a66c28deae5
+size 725070
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081214.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081214.png
new file mode 100644
index 0000000000000000000000000000000000000000..daacdb309fb14cdea159322902d2b7ab2f5c37db
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081214.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30ff6ed9150e1427b490f528dfbd60c66e7f5fd00c5b4e27f7d4e782ae17c179
+size 723964
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081216.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081216.png
new file mode 100644
index 0000000000000000000000000000000000000000..36c12af6c14300944e6c7e5882043212b7b8700f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081216.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ceea4551128428ed70a876cfd122c9b87196e5c6e1317115bbf372bb0663f69
+size 719208
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081218.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081218.png
new file mode 100644
index 0000000000000000000000000000000000000000..8ec4a41801493dba21cc178cd242a6cf731b87c4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081218.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3dca0146b731da25d79cee63b2e0fe618dfdff48c682c5763e2a933b63d1c9a2
+size 715244
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081220.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081220.png
new file mode 100644
index 0000000000000000000000000000000000000000..5f4346babaf3268a691473d1a5e0025d38dad71e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081220.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83a4131f81a586c73f2a4706f676c9f0e4e71fdcc4ad4accaa9a5935a48de444
+size 705602
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081222.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081222.png
new file mode 100644
index 0000000000000000000000000000000000000000..ace98057c65fee15b1964c31256a0e3a0c53e77d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081222.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3be3a3d37589f4d9718e2d1c0699859d26c2cb5dd8cada5d713877b29ee9e08b
+size 698777
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081225.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081225.png
new file mode 100644
index 0000000000000000000000000000000000000000..27c55edf777cc9d0c67f11ba686405a2379adb03
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081225.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f98b32a53940c0af582a9f2e00946010166a0787fb968d48d6e4e29db16f9308
+size 690321
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081227.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081227.png
new file mode 100644
index 0000000000000000000000000000000000000000..0fbfc515c425697c553da88b591cb59134c6837b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081227.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:808a5ce8a306bd86bd9fea23d1d779c81f4bf19985b2b3492ac6cea009acddb3
+size 685641
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081229.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081229.png
new file mode 100644
index 0000000000000000000000000000000000000000..653ccf331cdf6e814fee095f6505ecee88d5b77c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081229.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14f20125a04a0d3b9c42d47f9d913662d2c280b7e87f293330bd3cdf70c54794
+size 688814
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081231.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081231.png
new file mode 100644
index 0000000000000000000000000000000000000000..e150deec16b3cb098d6f4ab1e36f48c60809e5fa
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081231.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a87dccac74ed7bcca6fdcd8deb08e6797b11f8977f79aca0ab2733962ff57cd
+size 685548
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081233.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081233.png
new file mode 100644
index 0000000000000000000000000000000000000000..c2986132643f8a81ca88f0f7678d3bba52a9ae0d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081233.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ec56f3d3d82302c63693bb5010c864fc5eb52090891039078cf1e13b92e37e7
+size 687493
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081235.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081235.png
new file mode 100644
index 0000000000000000000000000000000000000000..370b4c904e6c2500cc82d86fb372665f074c0412
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081235.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d53973c06e3baeee831b516551ec264b00066f2c90bfe02746be9107be1ea525
+size 691968
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081237.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081237.png
new file mode 100644
index 0000000000000000000000000000000000000000..4f61099c16eb37d222c2204765a12e3d2a16eb2d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081237.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec7fe14e72f013a17df32e549319611e8322848d23c198368a9038adaef917d5
+size 691845
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081239.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081239.png
new file mode 100644
index 0000000000000000000000000000000000000000..c1519831802eded9c3f7e7ac436fa2d30fb35d5f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081239.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6480d17a0f147a65846353014a453b54a7e0435251c8e547de2c2e4cc7283730
+size 699836
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081241.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081241.png
new file mode 100644
index 0000000000000000000000000000000000000000..426095d4f9a0852a88fd6fa339e09ef1f75b5091
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081241.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abc67c713db5f5fbe702e5157ae25413d972239a411363beb959cfb1622296a6
+size 703184
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081244.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081244.png
new file mode 100644
index 0000000000000000000000000000000000000000..bee6574a119e9d43a5fdaf2ee8003398d79e16a5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081244.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:142854df8f9209cf5ab4b7bf35a279dd169d568477208e7db3b6cb17ab134de5
+size 705397
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081246.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081246.png
new file mode 100644
index 0000000000000000000000000000000000000000..1ef0a3664665d422fe6d342bac7cf172502f9bca
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081246.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:caaa907943258eb943261ccc66f971f28f21b3f02fd8da4e5566297231db9f67
+size 715766
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081248.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081248.png
new file mode 100644
index 0000000000000000000000000000000000000000..c6092cf1106eb3058d3e025edbfe8aecb887a6d5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081248.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d48f45c5e6e67453dbe54a05f97173aaeb0dad7936c857cda2e41a8f729e637
+size 720298
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081250.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081250.png
new file mode 100644
index 0000000000000000000000000000000000000000..0a46cdea6e225a3394f84688de331650b819d090
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081250.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88cdbfaa3a081d4a3a7fa4b9b9b4e397927202a672259475c87fb7db098eb00a
+size 716303
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081252.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081252.png
new file mode 100644
index 0000000000000000000000000000000000000000..ee9f76a8c8e1f5d12d3f1096007f688eae6aaf24
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081252.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77a2c07f520143f59df51f677b87f3fbc692dabbeff8ecb3b2b9f586262be6ac
+size 712652
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081254.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081254.png
new file mode 100644
index 0000000000000000000000000000000000000000..1fa43de19e26c96f76d5c6dd15afffa097addfdd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081254.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:532eaf66f19f90a44628d92b809332bd9ae8580fe3478cc215cc8515b0c929d7
+size 706944
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081256.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081256.png
new file mode 100644
index 0000000000000000000000000000000000000000..131c885d4b3907acf37258700f5888067b877d72
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081256.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56e31751e13ebd9007607a6870f689900a0b0d0621735819e240f0b166acd116
+size 701387
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081258.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081258.png
new file mode 100644
index 0000000000000000000000000000000000000000..f8288638f98190ea7cb386b2060c6ddccbc03f0f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081258.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c64d3b21a8d9cc6b601e4f1be7675a3616ce189a154d79b4104aaae5967b10da
+size 693686
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081300.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081300.png
new file mode 100644
index 0000000000000000000000000000000000000000..fb0a4fb88c400c84b5614a02685e40f7fac6d054
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081300.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:955d4c4319b352852311c6dbaafbd863afeffa6dc66ba3fd7b9346300f7f71b2
+size 689052
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081302.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081302.png
new file mode 100644
index 0000000000000000000000000000000000000000..f63eb33804c80971d6efc1848e4d2e5743e55116
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081302.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:374343f3fd6787ad3805c6cf459acb5165f5aabbbdf1ca18bc2abe876448ab1c
+size 687293
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081304.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081304.png
new file mode 100644
index 0000000000000000000000000000000000000000..2ef9cf0f7f086f2e32cc89f19edb75731118e960
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081304.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5ca0d2edc737a0aefea14e9c6c07f7de31c6327f0f2780b916f76aa3dae57ab
+size 696153
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081306.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081306.png
new file mode 100644
index 0000000000000000000000000000000000000000..a3cbb4c090330d1bd121da1ae19060db6109f7f2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081306.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d874d038d472ef8ef57c0debc01352f040085debcc76e74819eb283c5d62a54a
+size 695964
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081309.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081309.png
new file mode 100644
index 0000000000000000000000000000000000000000..2cc514bc119b6da59006abdff8256a49ff7715b0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081309.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd4031d008d5cdb9a1327d6e485079ea93b65d18c77c5f81553f5a4680dde9f8
+size 698138
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081311.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081311.png
new file mode 100644
index 0000000000000000000000000000000000000000..5b082c22cfbea630a4beeeebc150afcf69fe7c3f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081311.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67891703bd69d57c20e09d350c36802acc2e137fa87aeb12383fedbbb751d11d
+size 700951
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081313.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081313.png
new file mode 100644
index 0000000000000000000000000000000000000000..810888e41fd64640c1a821e2e1ca3def98a5feb5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081313.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:372bada9c55e1e0cde9f9b2a4d7f315be39ba4ae2c0cb304d558d0e81079bc8b
+size 702609
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081315.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081315.png
new file mode 100644
index 0000000000000000000000000000000000000000..bb3ec187b05a7b14457637154a3674cc40df5dfe
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081315.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f575552cfbe75d911ed542158608238e01ec9dc9af3ef80c62be46425a181b50
+size 702731
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081317.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081317.png
new file mode 100644
index 0000000000000000000000000000000000000000..4d1b51161fbb9ce9647f3075411a470c91ede926
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081317.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbed25106e046d0d65aefe9c99c7a15d4c8b5847575a6111a2673ebd1aeb42e1
+size 705549
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081320.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081320.png
new file mode 100644
index 0000000000000000000000000000000000000000..4cbf4b424cb437a6deb32010becc6f59a0ab5146
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081320.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:657fe1ff6710635439cba7970ecdab688aa9c0cc5cd24d323ca17c11718ec6d7
+size 708432
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081322.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081322.png
new file mode 100644
index 0000000000000000000000000000000000000000..2be11af78611898211ec1077605c6812db8af126
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081322.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2f0789cab48d28d5979fd59ed589992f211227ad2c9985a0c537e23e3638166
+size 708608
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081324.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081324.png
new file mode 100644
index 0000000000000000000000000000000000000000..161ff6a80319c2b5125493f15a075243998e5a98
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081324.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1313521c39dda2f47f874ba60f977d08692099b317c14ff86180fb36f6f18e40
+size 708621
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081326.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081326.png
new file mode 100644
index 0000000000000000000000000000000000000000..d7682b623f82b9fa4db8f52a089637260ed93f57
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081326.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ab06016ddbb7bb87c179b0a901074f1d58b4103f1b2469d92272b3efa38b664
+size 711753
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081328.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081328.png
new file mode 100644
index 0000000000000000000000000000000000000000..96ca7b8ac1a50e73be308731f030ee9e0033c327
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081328.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:434837b74f6fdf7a245fbcf9d866bf8a50f8d2811b2f701733bab0383e8391c0
+size 716528
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081330.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081330.png
new file mode 100644
index 0000000000000000000000000000000000000000..87a234edbda776ee5ff259ed051e48c39f5987dd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081330.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48f2f1ea626504c4a63b93c98d818b8963aeb861037001b60d65914b7914b7da
+size 721109
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081332.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081332.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c986da091c266bc9f7e40f5f8327c5030ada92e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-11-32_648031326/20250115_081332.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d24cfff45a463b4551e97e077a63e50313d1a1bfd957d2913d8101b6e23fb85e
+size 739910
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_000906.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_000906.png
new file mode 100644
index 0000000000000000000000000000000000000000..cb31fd16466f3a7718ea4896985ea1536e9fc081
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_000906.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:800ea52a4be26e77e4c29da1bba56776b0fb627a457ae62e2011e04091251e53
+size 630295
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_000913.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_000913.png
new file mode 100644
index 0000000000000000000000000000000000000000..c04bc16035692cc09438ab3587f9e3ef23007946
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_000913.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c01d2793fce74e53a56538e2911b0684a8cd7c3102bf155d699064ad3444bfc
+size 732142
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_000924.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_000924.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc111acb273a1af902575813ed15fa0e2ec83833
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_000924.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1449d5c4ea49e369b48276bf5bd2935329bbbb64c5e4826a19118b0c53de3a68
+size 729869
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_000926.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_000926.png
new file mode 100644
index 0000000000000000000000000000000000000000..c85e646bf3cf18c73036a16d8aa88c331902e30f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_000926.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6d38ae6e229ec74d35d1f2ea7601452037bf1e92f46267e492ff9a053033558
+size 725904
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_000940.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_000940.png
new file mode 100644
index 0000000000000000000000000000000000000000..25e81b2171c951a891a1c47c257501f87b8d2750
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_000940.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca73d943791c19267609fa7dc67f8198fa128a77894597e6432aa97f7043d1d5
+size 723345
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_000942.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_000942.png
new file mode 100644
index 0000000000000000000000000000000000000000..abb1f5d9f10112a364ae34d4b1e2fa2be785873f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_000942.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ee0d9f07a382f63d7d83f778044804f04bbd5a988f5c66af42cb0c0e5e19311
+size 726434
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_000946.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_000946.png
new file mode 100644
index 0000000000000000000000000000000000000000..f79d768d13e9805aefbd55b1b90680bc0302f422
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_000946.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7764fb9825d84af4d38ec9342d73dcb0fbe173f075c5183a2845a1574c2ed2f5
+size 734552
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_000953.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_000953.png
new file mode 100644
index 0000000000000000000000000000000000000000..c5228e891e20b68ff092ee0b5fe60753ce956623
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_000953.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb4a21fd0813e9cb3ce754136755dfb3839c61b098488d6d3f2035f04b2b1ed0
+size 742134
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001000.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8dac9d595fbebb34baf07bd6889fc19ef9dc7037
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e7eaa4b090e819b30696d6380ec4d4219fe5f91a5ba608a0871621bec1e759a
+size 746101
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001007.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001007.png
new file mode 100644
index 0000000000000000000000000000000000000000..3099a93b0c6a7cd7489e7372d1aeaa8175726181
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001007.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2369bef3e37f297251203a7949e2e49f27a0394cc4de045efe9dd413ffc6899a
+size 748511
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001009.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001009.png
new file mode 100644
index 0000000000000000000000000000000000000000..2eab3263cf1405025c784763799923b31d295e3d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001009.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbc13055c823a3975d28d59ad1eab28ea9a989a67ca4a299662830adeaf3cd48
+size 751169
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001012.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001012.png
new file mode 100644
index 0000000000000000000000000000000000000000..5ffec6c41fde244900a90610cb0063bd03baa837
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001012.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b28c722a5a625b2c59c95c6534f75bc6fea9e19c31e255c1b6edad21623ffe5
+size 748961
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001023.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001023.png
new file mode 100644
index 0000000000000000000000000000000000000000..48f4cae4609431065555425800cfe6264bba4834
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001023.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21dea71eaf5d107b5fea430fb0a4f49d67aabe3d0e351d6597bb6abb39ba85da
+size 748846
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001025.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001025.png
new file mode 100644
index 0000000000000000000000000000000000000000..009fa0a089583092f2aed57b907ffed232e3c4ab
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001025.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90b58ceea5a7b01703896445291edf885df7debb5552139c149cc26b51a017a5
+size 751279
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001028.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001028.png
new file mode 100644
index 0000000000000000000000000000000000000000..c42b593d6253af7586d7a7c03a93ba2c1dc18b19
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001028.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fd881c7987cf04548c9d16bba86b5c7650d0aab14cfa66d2cb6ab70d0062e7b
+size 750540
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001030.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001030.png
new file mode 100644
index 0000000000000000000000000000000000000000..f2647d4770e2b3e32f3ca020f892355e52fb4805
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001030.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:647e29a7d99f018889037fe0cec7452637dea730b2b90d93e8bdb4109801d38a
+size 752938
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001034.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001034.png
new file mode 100644
index 0000000000000000000000000000000000000000..ae24db2289b0d745e39c94d7ba5289c7d22e92fb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001034.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1209042f41a804d8a8aaa1199d4d1905b959819285f7675be8aca203d46a99af
+size 707121
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001036.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001036.png
new file mode 100644
index 0000000000000000000000000000000000000000..e4785555f1697196d834412a96b003764ffa9d0e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001036.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90d9468749da635a6851ff4d2de34912b92e81bd5adee9aa73028f90e9e420ca
+size 711656
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001045.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001045.png
new file mode 100644
index 0000000000000000000000000000000000000000..c2f20db788d10ef420dec8af4d290481f0bb6afb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001045.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd90fddfc172af4a512ae55f7ed499c404cd0c29ead5be5350ede5291e4b96ce
+size 716169
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001048.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001048.png
new file mode 100644
index 0000000000000000000000000000000000000000..058531b2059d836e7a41b47c897ca7f0c940bdea
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001048.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3659dd1410ffc3f7b9794f50c458cc5bf97d44f6efde8b7a072c3c5e44254d1f
+size 719096
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001052.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001052.png
new file mode 100644
index 0000000000000000000000000000000000000000..c1c753039d53c82dd8cf10b107952050f699b724
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001052.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5e58eb31e05a590ac3ad7eef8cac0244051f16a77b81cea3966c00515fd6317
+size 721783
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001056.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001056.png
new file mode 100644
index 0000000000000000000000000000000000000000..93a4f07abf580650e8d7a87b7ba7f16dcb8d743f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001056.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48f786a2fee822ef2461e6756f55a49480ba46813d3461aaa8e1e56c812f2b65
+size 734126
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001110.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001110.png
new file mode 100644
index 0000000000000000000000000000000000000000..fe34813b98e5d5678eedd6db78edcdc2afe80376
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001110.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd3746d2cdeff12c85e04b5d45184cc4c3d5d3a35b7b92a46aeac371474efde2
+size 712150
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001117.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001117.png
new file mode 100644
index 0000000000000000000000000000000000000000..1ef6a53013c975ff5eb773c4f73d6cd0cb53aa03
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001117.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5aa2b128c89436440ac2c4ce2697b16a80cb3f3b38fb659d9ef2e63a82fea3a
+size 713541
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001130.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001130.png
new file mode 100644
index 0000000000000000000000000000000000000000..f3ced2c6b1e8fe4138bb363539c724aad001acf2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001130.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5aa79c7c81ce0338c2dae260e67c18715b76e6094dee181238a6f93237b99dd
+size 735421
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001137.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001137.png
new file mode 100644
index 0000000000000000000000000000000000000000..ddfd3e8f24bd3c376efe509f93e2770c8cd976f6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001137.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6d36bf27c5937f0a02fa6751a2e7696d4886372d0570099df84f4bb1d015838
+size 747017
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001146.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001146.png
new file mode 100644
index 0000000000000000000000000000000000000000..6265bd4d9c80a950ca377867c10df67f73026ccb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001146.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fccf15e4573cdd0669b8a0f05c6f482258b0b18baaf19826338a34c85d4fd666
+size 735830
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001150.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001150.png
new file mode 100644
index 0000000000000000000000000000000000000000..0a5ca7318ac1a98cef557274381a6833e7bf7ad6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-9-0_63299708/20250116_001150.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbf3962b6d27865e0abaa0ec044dfc29a75319995baa988a4960259a17c367b3
+size 731103
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123721.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123721.png
new file mode 100644
index 0000000000000000000000000000000000000000..2ef91d3c314a91fc3ef73aa117d76b150214f504
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123721.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd0d19d0728b495814ad9f932f1e9f1257d8dbaaba92a5b355da8944b07fcc7c
+size 757095
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123723.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123723.png
new file mode 100644
index 0000000000000000000000000000000000000000..e24ad49e7c1da8067379c3de4b48899f583e7a68
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123723.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc970498b1a2a0169ce03eed379dc2cac58a4a0fdf2a0f11e5b3539a2ba87676
+size 720593
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123725.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123725.png
new file mode 100644
index 0000000000000000000000000000000000000000..1353065082b5d5df596d44bf6358830f8a66e45d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123725.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85812cb960a2224d0599d28a088485b2d780a7777a687f03caea0f382cb89b5c
+size 716665
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123730.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123730.png
new file mode 100644
index 0000000000000000000000000000000000000000..ef7e479b9ae869258f9e989bb58b079d5b2b3e69
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123730.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ddedb4c744783c17597d85855482bc9b5262abab3092adcb1dd4141b484821f8
+size 709921
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123732.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123732.png
new file mode 100644
index 0000000000000000000000000000000000000000..84d630889e0583e0a70f30f13b3376fe4d69089e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123732.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d2e570082bcb42ec6b4471a4d8b18c0470a430606b1cec677c16c81cef6dbd6
+size 708151
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123734.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123734.png
new file mode 100644
index 0000000000000000000000000000000000000000..2128643b1c9ea84198f25efc0efc34509795769b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123734.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04835b5de968e163833de44e6987c995e071a5247263763552347e442e2ac6a8
+size 701863
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123736.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123736.png
new file mode 100644
index 0000000000000000000000000000000000000000..bf7020aff3b3d68ad8bdfc198a21d53989a1834d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123736.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:591cee9b953fac5250ff74d17ee22b1a795cab768d000255d3c9d13cd633c642
+size 702175
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123738.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123738.png
new file mode 100644
index 0000000000000000000000000000000000000000..009524f997d04917ecbb312eb01442235071411a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123738.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b4339b9f62f6a99300c68cc3bf32c9096913f200d0fbcb8f1a31eb3bac97cd4
+size 702051
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123745.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123745.png
new file mode 100644
index 0000000000000000000000000000000000000000..2a49dea732f473e23cce8a0df30053b3a9870a9e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123745.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07327bb7c887af3d5947ef50a59814d0ea8aaa550ac3c3fb4315de8578f1ee36
+size 678715
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123747.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123747.png
new file mode 100644
index 0000000000000000000000000000000000000000..2b102c8b41d05fa58e3b44e7be2cd428175f6aa0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123747.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2618d59aacad7e439e4db153877ffb1a9b8d72031770589efce7b60feee9066
+size 699496
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123754.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123754.png
new file mode 100644
index 0000000000000000000000000000000000000000..58c653efa29e9a85c403ee1fbab53262423640a9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123754.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1af4e3c370a83575f4797788b7f9e1d7cc7287f637be2518fe035de969dc9dea
+size 729847
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123800.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123800.png
new file mode 100644
index 0000000000000000000000000000000000000000..d6b65a1785b7cb5e887621100d834e454ed61f90
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123800.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2debfa8391b1e729cc806f5e61fa58240d2505e36e2da5ba9e1b59802f16a62c
+size 739099
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123802.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123802.png
new file mode 100644
index 0000000000000000000000000000000000000000..faffed85548958513a7a41a33e504dddf0893ad8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123802.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:590363ffcf6290660ce58ec584be61ae2728d79264174ffb302a0f413238a8c9
+size 703034
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123805.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123805.png
new file mode 100644
index 0000000000000000000000000000000000000000..6a567f5130f0a2b5d570a5c3ea72bd0833679d4c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123805.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e195778d636cfe599ddf65077956b1e5875c30f26724d6e57e41de1bcb13148a
+size 664360
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123807.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123807.png
new file mode 100644
index 0000000000000000000000000000000000000000..e8e3b5f599ec2b18641c9e549ae8861ca392288f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123807.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:885a7ad4b278d6a5432c6ea4cbd432b6706b5ef770a2fd384a191179cfe92b28
+size 685360
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123809.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123809.png
new file mode 100644
index 0000000000000000000000000000000000000000..a81841094d236fc381e1ee8a47b1fad86fb0f708
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123809.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02e2497626b801261c6db32bdfa2058c6487d4df76f36ea05730e5a54f2ebefc
+size 687872
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123811.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123811.png
new file mode 100644
index 0000000000000000000000000000000000000000..6bcb9f5ed210c3a9bf530a37393abca6018e078a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123811.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd9c332aa0a101d8246899fc0e434ab12fe364751aab68579a7030bac5068032
+size 680432
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123815.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123815.png
new file mode 100644
index 0000000000000000000000000000000000000000..13f8c6b0059cbb83be3cb6a9fe9187bff32e06f2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123815.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1b86e0070d5084730cbb94576c132e461cbc085c777cfc8782b028a1a9f8094
+size 665201
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123818.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123818.png
new file mode 100644
index 0000000000000000000000000000000000000000..2b3ada789c6767c9756c0c2edd9d7fe5950b88d7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123818.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b203092d82580e5f014bcb1da08f0ba16f257800d57d285692aa50de99e873f7
+size 669808
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123820.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123820.png
new file mode 100644
index 0000000000000000000000000000000000000000..930ac6a21730bf0dd9040d834ee4ecf566680387
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123820.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68f9b8396d375392f1c34ea4031f8bfd302b420e2459e84bb13bc517a3639e08
+size 673682
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123822.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123822.png
new file mode 100644
index 0000000000000000000000000000000000000000..476e240d708c5ce217f5110470e529c89e6c6426
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123822.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3852dd94847b31da3d6cdb6f959267efe8af56534135cbca8400514b8db7df7
+size 684542
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123824.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123824.png
new file mode 100644
index 0000000000000000000000000000000000000000..d18ac7438b1da13ddc2f989b99d63aea5e75ce08
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123824.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2547e555032902500b019bb58b8bb27b212a9720ee676885e75c530f6d040c2e
+size 695886
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123827.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123827.png
new file mode 100644
index 0000000000000000000000000000000000000000..0a11dddc67856cd3b4dd0891dda3b5e7199ecd92
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123827.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e92a46eb1e58f876eabc08d0eb8d90d869d46331e8c70428ba2d47e58fca99bc
+size 700692
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123829.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123829.png
new file mode 100644
index 0000000000000000000000000000000000000000..ffbb70704d1cc016e507386b97033e402bd67b07
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123829.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:816a9002c2f65e9eb0d70b9554414162cf1332dc7b4b2b898410104c289bb024
+size 697815
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123833.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123833.png
new file mode 100644
index 0000000000000000000000000000000000000000..25fc0709fb4a781d530c49b5f878f5d84b6b92b8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_12-37-15_660916487/20250116_123833.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca5436485b735a1ddb9c561f55f1461f90fdac08147428bc703052e84a0b2a74
+size 719560
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052822.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052822.png
new file mode 100644
index 0000000000000000000000000000000000000000..0dc939f36c3fd206f7602701341cd47c2e95f220
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052822.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1352fdcef3b5682bdc6a1b756f2d879231d0610baa8ce334fd395f020ebff64
+size 736149
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052825.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052825.png
new file mode 100644
index 0000000000000000000000000000000000000000..2f92dbb20eeeaaeac7fba3ffc66c00b4766818f2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052825.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f94f6ac99337e1112a03c9f0fa4148f069b980ef8c039998e8756b986073bee6
+size 693730
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052827.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052827.png
new file mode 100644
index 0000000000000000000000000000000000000000..dee659c7b6ff836d38e2c0b6a98f17910f21de0c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052827.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdf93b626f7af4dd945dafec193f6263103ab2c46f47ab0d2586ab708657ba3c
+size 685696
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052829.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052829.png
new file mode 100644
index 0000000000000000000000000000000000000000..eb64a42dbabbcdabc210691538864e84023a5370
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052829.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:483217b57c0e1c32b71087b712ee1ccfea77063c8c1f61b861d860adc4c18109
+size 685095
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052831.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052831.png
new file mode 100644
index 0000000000000000000000000000000000000000..3a17b06f387e4c739118107750ebf415fc581a91
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052831.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7388fe94046f993277df6ac56efe2818f78811ee3f03489df8ca9ebaf29cdb2e
+size 679026
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052833.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052833.png
new file mode 100644
index 0000000000000000000000000000000000000000..3ff30de16aa02b9b98e6d711bd71a6780a3ccbe7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052833.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd9d73ae8d1dad56156de9c41b3df33f1decf5c0df3b07dd1dc75105e745179c
+size 674000
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052835.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052835.png
new file mode 100644
index 0000000000000000000000000000000000000000..52a39ae73f5c656cd5d952208607abc86807fc2d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052835.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c511e22873d05d7ab1490c02073bf994b4e89a9d49a92574d6ef358a2db8ac32
+size 670270
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052837.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052837.png
new file mode 100644
index 0000000000000000000000000000000000000000..40ce774edabf287cd97d4a5b16b4a1a96eb3f974
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052837.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0d28555c4f44fcf6ce3a286faef260fe8cbdaf5bdbb6e3fc9feb0dab1e9befd
+size 671396
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052840.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052840.png
new file mode 100644
index 0000000000000000000000000000000000000000..0f6b3350caf0853a16abfca7bd2ac792cd02ea31
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052840.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2044d8b0332877b8eed9193e910c58fc8e257cdd53356f7da521da35501e8ebc
+size 673173
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052842.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052842.png
new file mode 100644
index 0000000000000000000000000000000000000000..69703d1c27468d99b905fd9dc2c29bd293223cdc
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052842.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0de722140ea015a8bda81fefaeb367387325e2fb9e5dde02c1bb4284da096f9e
+size 674810
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052844.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052844.png
new file mode 100644
index 0000000000000000000000000000000000000000..6de47df7a5b8144dd8571fcdfd3c1072cdd0b982
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052844.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:befb1e9f5478eabb6489666c1377fd6556ecf494f8db62f305ab4594c3fbd12f
+size 676701
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052846.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052846.png
new file mode 100644
index 0000000000000000000000000000000000000000..c058f109b1bd43538c09f632eca8c956d0738ec3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052846.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:426e44a885dec057ccac5e4db669ba73f2c484f4d928879583c0a690899a5e35
+size 680349
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052848.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052848.png
new file mode 100644
index 0000000000000000000000000000000000000000..60151319bfa5e89da3bb8fc5a230e0141c5d96ef
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052848.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b88a0d788f8bffaf6f2c0ee5f42c9c956e1c207737029724ccd6cb4ae54b98d
+size 682197
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052850.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052850.png
new file mode 100644
index 0000000000000000000000000000000000000000..aa6f322011a1e46cc1334b25b019f18385fc80f0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052850.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3ba2a82501a74d04360aade51018f10545aec844d65deccb8fb6c9376cd8b92
+size 685340
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052853.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052853.png
new file mode 100644
index 0000000000000000000000000000000000000000..4b79dea01221fe41a87e769c4169ce86624cd4a0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052853.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0daaeaa4b0a6bd2f0a55e8b85ddd368f52d59f6d4f33c5cc95790f24355a7fe4
+size 689262
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052855.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052855.png
new file mode 100644
index 0000000000000000000000000000000000000000..307368a27d9b9eb0b2dbbea516b4bef0a0e56cd2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052855.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cbd0b407c806724f84469061fc3916f3cf2506ab5215fa6ea037218616bef8e
+size 691583
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052857.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052857.png
new file mode 100644
index 0000000000000000000000000000000000000000..269330ea0b57b2cbd12e101b935dae6769a4d2db
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052857.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb5335ba2817c20ca9f05cc0a9e29be726732a95a6bd4ce5f7cbc66f3b1071c7
+size 691184
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052859.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052859.png
new file mode 100644
index 0000000000000000000000000000000000000000..28cb1a4146fe21ce120195220af913a3b773d133
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052859.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39f120c3b7e44667d3a51415d3150f182fd144593f3191dba575f9e69ebf41b5
+size 691024
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052901.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052901.png
new file mode 100644
index 0000000000000000000000000000000000000000..57352734d7e217f8e876c6de25d72a2991582cf4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052901.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2369981b10a8df25e0344df2b4a07cebfe0e6428fa79a0e1d7d2f4e9958bb3c
+size 688430
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052903.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052903.png
new file mode 100644
index 0000000000000000000000000000000000000000..16a78aa3ccafa198e0914c70c312d6867d9c1ace
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052903.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8d7a4db5da0169c6619b4d2dcdb19e6f109ab9289283d48f570fee9af0a117f
+size 683355
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052905.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052905.png
new file mode 100644
index 0000000000000000000000000000000000000000..d797e39d557ca15df778c08b03e931712af9b9e8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052905.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1dd303759c0dcc2ead634624f5b7b702b6522d30b1cbab77d39f4f73cb1e534
+size 679004
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052908.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052908.png
new file mode 100644
index 0000000000000000000000000000000000000000..aaddde6bd90411cb64de4e1697e00a968dcde264
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052908.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b70cb7f9eaa2b5bb2ab5887c3460ae9c634d10783d7bb27c0b027c1497bb4337
+size 670783
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052910.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052910.png
new file mode 100644
index 0000000000000000000000000000000000000000..6d1905b363cce9707eac215f90e087441d6a0421
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052910.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e8da4eb89d8d1d20c7ac9432e94f7de6c911d58486c4a809b64940945550d46
+size 669689
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052912.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052912.png
new file mode 100644
index 0000000000000000000000000000000000000000..767b0e162ad1d1afe871d8d068bf81024f767bed
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052912.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f88b6b8b101c7c28c0c62e7e79f4d0658d989b00b15584925c0e016f709a00b
+size 669389
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052914.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052914.png
new file mode 100644
index 0000000000000000000000000000000000000000..9e23807857c5328aad9acc6b1cd95fa961fcc97f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052914.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f1bdefa6405b3e8dcde77d42b092d9e77105de652866a66ab688fa326013fb0
+size 672786
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052916.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052916.png
new file mode 100644
index 0000000000000000000000000000000000000000..6edd276d22706e41f803600ac1b93548fef34cc7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052916.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87816000d7636d23e9c185e18d182f2539179df18a2cab6948af13d25c35e8aa
+size 677597
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052918.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052918.png
new file mode 100644
index 0000000000000000000000000000000000000000..ef2ba491f3b27ce577b87220d6248425c3410825
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052918.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3dd9a69c924cbd87cf6ccddde6f058034c7948f6cd45231c5e9b460245a55e4c
+size 693221
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052920.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052920.png
new file mode 100644
index 0000000000000000000000000000000000000000..2fc64c829d4f5c629ab088b699b3734d18f71227
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052920.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f1962bd08cc393f5486b55690c8c3f22282638ac0c2db7869f170c6016502f9
+size 703177
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052923.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052923.png
new file mode 100644
index 0000000000000000000000000000000000000000..4cac832bc2dd6ffff45116c038ec56f7dd0457f1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_5-28-18_85291638/20250116_052923.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a9ad8274cbbbbbe49d923e3c0f9ccc7d5fa1b73e739e7b655f5bb905cca864a
+size 727649