diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054252.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054252.png
new file mode 100644
index 0000000000000000000000000000000000000000..4cdc3f46347195f9e9329ffd93b175e8688173b2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054252.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65442a2bf3742c2c4a94230572517b173409f12ee0a19f7219c3c894490dd924
+size 724230
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054254.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054254.png
new file mode 100644
index 0000000000000000000000000000000000000000..4c57f3cf00f261db40bcec41f7245629c2219b73
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054254.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d968470ad9d637b98fc7fc0a2e01422596fe231d93d3811edad2440990d978dd
+size 815619
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054257.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054257.png
new file mode 100644
index 0000000000000000000000000000000000000000..4ef7a5a8d85c3866dbdaca9336631046db34da0f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054257.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:548b1f94c41bf33196748d10672a21bc0a53c96117ac7f4ebb6a7009df97ace8
+size 773557
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054259.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054259.png
new file mode 100644
index 0000000000000000000000000000000000000000..e80ef414634376111db1712dc8212bf62cfd99d0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054259.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ee723be9f64151bcc35b63db9be79ae680b0d28db69f5e6ce5eb1414199c883
+size 770279
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054301.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054301.png
new file mode 100644
index 0000000000000000000000000000000000000000..4a8dd1e2cadb55a13b30d68beb7dad8f5f424dd8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054301.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4838c36b13c4e3e01580211980042f1d24ca45d3da795fe372e0902c0f80d53f
+size 789071
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054303.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054303.png
new file mode 100644
index 0000000000000000000000000000000000000000..9b47a3ebbd3d82a07c46f80800b2df9ac4c5c07c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054303.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65f785760f83f04fb8b630b6684cc61604ab1628211ee20a06f1b1bc22634227
+size 795223
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054306.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054306.png
new file mode 100644
index 0000000000000000000000000000000000000000..2c782ae794af3c418ba6bcc517215ed8d06d2a2b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054306.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c60e770a9ef6ef5fb6ddec785503fd681724d9dd32092021b6f3c062dc921c98
+size 797091
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054308.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054308.png
new file mode 100644
index 0000000000000000000000000000000000000000..8756535169162edd40dc669f1c85e9ee9dcdd119
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054308.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da2107a1acc40b7fab27cb8a82f5f39a61d6e36922335f41cbb9664f442e258d
+size 784621
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054310.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054310.png
new file mode 100644
index 0000000000000000000000000000000000000000..7255ffabff2b76612ea163e5f5114ee0d9785246
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054310.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca20c8a31ebfde50a77c073978941bc526650d2fae61f1a819dc564d33d6db8c
+size 781008
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054312.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054312.png
new file mode 100644
index 0000000000000000000000000000000000000000..0076e713d878b65874481c06ef6223b118c0b329
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054312.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f917f768a9f2374973ec26eb9670b6721260a3f9a6cc7a3895af14e95fbd5faf
+size 781892
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054314.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054314.png
new file mode 100644
index 0000000000000000000000000000000000000000..bdc5bd76632ede6e800340c976a51060c2c25fb2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054314.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1811dfac7727c20ea8c862e75ce9ddeab668d9f2085548c5f7c6bbc73205a7c3
+size 780709
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054316.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054316.png
new file mode 100644
index 0000000000000000000000000000000000000000..24b113265dd7fdd2ca12d0c7c14cdfaf094413ad
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054316.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0012f996f178db20a40e730647c8c4541762c6b4f3a9742f10f3b9eb0ebbaa3
+size 778145
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054318.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054318.png
new file mode 100644
index 0000000000000000000000000000000000000000..526fcb2427cabc7be056512a9942d4b9b297ab1e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054318.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6423c445b49f4e5db38d42635aae7c22ce321e14cc83ae73de57ddef044ac24e
+size 800015
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054321.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054321.png
new file mode 100644
index 0000000000000000000000000000000000000000..606cd78031271c7a0aee729643fbec4f3a847e4a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054321.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:249726fa8ea8dfa611b8d0ffdc4b0411515fb57917192dfa81451eef3ecb6274
+size 801514
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054323.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054323.png
new file mode 100644
index 0000000000000000000000000000000000000000..383a8d2ccc97baddc40a91ef514b072b9954c5c8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054323.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:298b5ef1d3110363c60fc77793bf6045ee5b808323ee371db798acd96aad2265
+size 794465
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054325.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054325.png
new file mode 100644
index 0000000000000000000000000000000000000000..1728d0d9e294a827981d4ad3cf584197b99db894
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054325.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd459f44f111c3320b9c9d939205ad491ea3c99ffc61e757580b8bb8bfc4a39c
+size 794530
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054327.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054327.png
new file mode 100644
index 0000000000000000000000000000000000000000..ca0101ccb6fd06b7b5c864d117fe18a20d2c2eb6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054327.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7bcfcc10bb4080f9b0f17e23c9b6e22ff4c5790b94ebac73f6a50ae71c8d39d5
+size 791779
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054330.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054330.png
new file mode 100644
index 0000000000000000000000000000000000000000..ced67fe97043c4c4407d231314dba3c039a2f5be
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054330.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:002f95b29bbaf65557acb651fdfedb67c48fe14c95ca687487a834470b74b4bd
+size 792743
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054332.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054332.png
new file mode 100644
index 0000000000000000000000000000000000000000..697513748b15ff858bb160556698daf57ec60cf5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054332.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c5294c2db83bb986749ac9ea109774bb0630937f22d3f614d22ccf884c3a918
+size 797802
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054334.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054334.png
new file mode 100644
index 0000000000000000000000000000000000000000..9cd8dfe23e4015439cfd39829caf4ccb2190bd26
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054334.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9974f77df255489863a4c70543af770996b790e8d3c228e196ae19b8866d3249
+size 809138
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054336.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054336.png
new file mode 100644
index 0000000000000000000000000000000000000000..9e9e6d6cbbf4c57097685659b4adf03a5072e0de
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054336.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c03263daacb093c1e8ffda5febca2347af967b53bd49f6767116731a840ee1cd
+size 809851
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054338.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054338.png
new file mode 100644
index 0000000000000000000000000000000000000000..6cf5fede12ca4fff683c23477ae9537863607680
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054338.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecab2e2d43be9995b38f42287fef42d0ef4211c977d7f337e95e6f8a8084bd92
+size 819405
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054341.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054341.png
new file mode 100644
index 0000000000000000000000000000000000000000..1d7cbee1094074f146f706d4bf6def50efaf0d4f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054341.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:932e37062f2553a65dcf09d58f57781770987333a1f4ac9faf1e2f54ae54331e
+size 801131
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054343.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054343.png
new file mode 100644
index 0000000000000000000000000000000000000000..b9c5bc06c79db39b97def5d39234492266473f9c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054343.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32751f96e1d6702b9a226c55e9e6cf7fc8b7dd8dc88fc013ebaa4f1846aa0910
+size 802404
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054345.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054345.png
new file mode 100644
index 0000000000000000000000000000000000000000..8a078866ce7f217004f79e8faea804f7be2f4ba4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054345.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5e028ec9d9e7e72d59458999630ca27fa9accee19eff3e0efc89d75a84fea4d
+size 799605
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054347.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054347.png
new file mode 100644
index 0000000000000000000000000000000000000000..d8d16b5e6a012e8bf0ee8bf24719d5b341dec0cd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054347.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f3911700943dca549c1dac0187323a83fd02e8063e59391fb5d90289b517d7f
+size 801048
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054350.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054350.png
new file mode 100644
index 0000000000000000000000000000000000000000..c9bef88c9cfc82226fb604a864a7acb60c90d256
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054350.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:405cb2777c20e591d0d33bc4f08845aa8eb01e87cd291602ae15464615639f36
+size 792653
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054352.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054352.png
new file mode 100644
index 0000000000000000000000000000000000000000..69bb04b0807b453d6ec3e480d0b6ed8f6998e7c1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054352.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d871356c8a3fb36141224ad6ca98f547ba9299b266d553c3012723f44d1906d3
+size 791269
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054354.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054354.png
new file mode 100644
index 0000000000000000000000000000000000000000..a049e6d839f41489f0a1ba4c0ee7c95aa7cd4aa7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_05-42-46_892767/20250119_054354.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f09ace3ec7611bb5d58a008484767037a075163f6eb5147a2de35960f70beefd
+size 844081
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060337.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060337.png
new file mode 100644
index 0000000000000000000000000000000000000000..83c3c14a58abedae7bca355d50c84282624f1171
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060337.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fcb2d4a8c226a5c458af673de93e5b09250b83d3d7fbf70778080a1bf020b810
+size 791124
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060340.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060340.png
new file mode 100644
index 0000000000000000000000000000000000000000..a9a8a9339aeb5e5680a3f9cb1dd23d0fa77f2041
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060340.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14f07c25ab428c4f33c763a244e7e7902d81741d04f827a65785e3e4a65ba531
+size 757999
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060342.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060342.png
new file mode 100644
index 0000000000000000000000000000000000000000..62aaadad2e703ad05e2a038d0f1fa541ce5f2b1c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060342.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b8884f85b5445d8463127d817f03ecab60a28d6323bcf34b6f7bacc71338f4e
+size 742372
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060344.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060344.png
new file mode 100644
index 0000000000000000000000000000000000000000..76b5e69c79a92cd6cc79ccbc7827713c8616d463
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060344.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb9c95a8501c238e588a2fd7ce9548cd39ebcb574d0ca9b085d52510603f2988
+size 759639
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060347.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060347.png
new file mode 100644
index 0000000000000000000000000000000000000000..e3ae92ae7661c79955775064e6424ef69eb5f13f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060347.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3b88d4a899c15e55edfd23d70ca50ccb944637c7d209144042dbfb744d3d444
+size 762320
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060349.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060349.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc1d9b32c767457b7974d00c3dd737a3d817b9f8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060349.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35231108460c0f9f3ff75b67e1115759eed080d08dee455c00099daa72ee0e02
+size 750093
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060351.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060351.png
new file mode 100644
index 0000000000000000000000000000000000000000..5762a458a8fded649a6adbf700d3a821efad7251
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060351.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d83b2369df019af0bb27ad1bfa7133daa398b3c4ad719041b1de8a7e6d7d1bb
+size 733806
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060353.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060353.png
new file mode 100644
index 0000000000000000000000000000000000000000..14ac2413cb9aea458dc953cc95bfac0ed06cf116
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060353.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf4472f4f7eb9f5e4804dda00b13fe769268537c8eb7692f072463a3ab5c4b64
+size 731476
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060355.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060355.png
new file mode 100644
index 0000000000000000000000000000000000000000..70a863bec22b18003b3203f22e775255f56f1960
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060355.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:747f70c303dc19947b832a45cfae3b0da99b35bcda4c6e89995f522ae9a65420
+size 733758
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060357.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060357.png
new file mode 100644
index 0000000000000000000000000000000000000000..3c40f92ba664dc68a0391f8c98400c3e65d36db8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060357.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6d7e77c7a26bbeda3329b24e6a6c998cea70653ba7b0a6f4d9e35a22d00af01
+size 740323
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060400.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060400.png
new file mode 100644
index 0000000000000000000000000000000000000000..e31b36d92c6fedf66b46edcf76755c0e3b9dc0a2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060400.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:404e1d1177a9d79ea2d2b94d6fd9c26a0fb55f0377b6260cf03e5c88c93e635e
+size 741842
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060402.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060402.png
new file mode 100644
index 0000000000000000000000000000000000000000..dbf8ea0589b1cd6aca89df0d7f571e3580827c18
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060402.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69e21364fc6f87ed0669410ebf46a9e3573626e192f4d2516f872c37e99b20b0
+size 741793
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060404.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060404.png
new file mode 100644
index 0000000000000000000000000000000000000000..f3d6eae55ce5eebdb7c75ab97b01e626fbb26c2c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060404.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:243f01c621a05729240e8143b8127424f20fad418329e1842f300b20a72ddf4f
+size 737411
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060406.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060406.png
new file mode 100644
index 0000000000000000000000000000000000000000..b6cb8d0e5016932eab13aa8242e848b533120e66
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060406.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6808ad1930824934e798ba7979b1fba16dfc66e931ffab7d8c7b2a92f5caa2e
+size 737034
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060409.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060409.png
new file mode 100644
index 0000000000000000000000000000000000000000..ac4b574b686a116ec8ba5bf2c8f3b2d4302d0648
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060409.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:384faea962b686be0e8577031fa8076a4e4734263b8107d5d872d771deb0c9be
+size 733305
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060411.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060411.png
new file mode 100644
index 0000000000000000000000000000000000000000..58cd26d56e4ca4e8e73b6e01d463d754f5659cda
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060411.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72c38295240dc2ab3c54fd5da863c6adf595944a7b576a0b3f2205bbbd5863f7
+size 727174
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060413.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060413.png
new file mode 100644
index 0000000000000000000000000000000000000000..3c0a04c18a64dbaca78f634b09384b5f1dba806f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060413.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74db6a7195c8dbed5f84efde38742b63db5a83f559c8778cbd49fee927e07b12
+size 728853
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060415.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060415.png
new file mode 100644
index 0000000000000000000000000000000000000000..6e24fb0bed33a78335b5798ae2454a17ec155657
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060415.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b16de87073a3361ea72e261d209141d49ad10625382b7ec2cfaea2ee6a4191c
+size 726120
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060417.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060417.png
new file mode 100644
index 0000000000000000000000000000000000000000..e537db99919adb356c5982b1007349fcbbe5e22e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060417.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ffbf6a1f61b067cf1d9674bfd5d104a16e943c37799a179634874d7f20ebace5
+size 725334
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060420.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060420.png
new file mode 100644
index 0000000000000000000000000000000000000000..be9b62c34d4dd5605233c0e34f7d749d5f0ce092
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060420.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0689dcf3e111776ecfadde5010b365f8b991ed125008371fda4e4e0a8d7f79e5
+size 720855
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060422.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060422.png
new file mode 100644
index 0000000000000000000000000000000000000000..2d149bca548247298bce7b2971499074f764706c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060422.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9af2f407b5774198fdb10904cf73054fe3f2b9cb500f65675183976dc230bddb
+size 720552
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060424.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060424.png
new file mode 100644
index 0000000000000000000000000000000000000000..d33dc1d913f0e79892dd1b6272a245090fe028a5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060424.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6d000a96cf104d38afd07e0d33606812c34dd0ccd8963f1e22f7c6d5f3a8aae
+size 718794
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060426.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060426.png
new file mode 100644
index 0000000000000000000000000000000000000000..af27579d7106d849db44284685a52ae53f381a4a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060426.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91ab43c350810e3201b73cf3cc7858b7e5a12f97b48ae60563bc7ff2114a3cf6
+size 716764
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060428.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060428.png
new file mode 100644
index 0000000000000000000000000000000000000000..b4d0cca672b73f81867a78a3239ca70a1194d823
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060428.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8fd9b29d92d5d8cc33d01ec13677c67660fb7d0a40952a863aa63bb66a97d90
+size 713407
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060431.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060431.png
new file mode 100644
index 0000000000000000000000000000000000000000..308004fe977af1779df9a8b8616f375668e41fa4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060431.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65149ca1e6823c09fb2ef1728bae07c6c3b055745afbfd5d5f4eef6dcc004d74
+size 712262
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060433.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060433.png
new file mode 100644
index 0000000000000000000000000000000000000000..503050f12bec5967e0524a61b9defdf81d2cffea
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060433.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb6fb13a3f695e634ee361750507d3e4f2261f20c2d9227f6ca87cf339db3d0b
+size 712917
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060435.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060435.png
new file mode 100644
index 0000000000000000000000000000000000000000..e1ca507d95b36c9c9d2d045c9101b24604800237
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060435.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c94a811157198e28067296d165d4f94fe7f8d7b4e88b3a18eb2913593645ec3
+size 713018
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060437.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060437.png
new file mode 100644
index 0000000000000000000000000000000000000000..8065f80704ee81d4c90e35955c5996ae2a80005a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060437.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43bb384c597710a83bfca12371bb8f485970ef4710a9b8a550d4a90257f8e4e7
+size 717976
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060439.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060439.png
new file mode 100644
index 0000000000000000000000000000000000000000..691c0151a867c54b0d49208dd2d475832ab660c5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060439.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3871b3e86106437904f8558609c4c032c8c90f35d95a8f1a8451cc25f45f82c
+size 712686
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060442.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060442.png
new file mode 100644
index 0000000000000000000000000000000000000000..0b1e537413686fbcae57d268ca819793378e5715
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060442.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b402fe6557c824f88c3ea45fbe218f12d6e09179fcb537cea3f42be8703518d
+size 716431
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060444.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060444.png
new file mode 100644
index 0000000000000000000000000000000000000000..c84cff30406a3eee3df6b3b6ac808ee6754d6a1b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060444.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:636db20451b061cc26639c7cd5af391eeb57d62945dae9029b5f384343ce006e
+size 694727
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060446.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060446.png
new file mode 100644
index 0000000000000000000000000000000000000000..2630d3717de030644185756252b28aea611da338
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060446.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bb349c9c6d9527a114d9da01f95a21fb4d6945f5d148182db438a5dcec3ffdf
+size 694901
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060448.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060448.png
new file mode 100644
index 0000000000000000000000000000000000000000..1c60329bdc49da248e4dc6c4dd42c4479381e7e0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060448.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1f83dbd72b5b9a6c2f8fa86da08a05ce7d464fa838d5b308f8f960f0ec28006
+size 692225
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060450.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060450.png
new file mode 100644
index 0000000000000000000000000000000000000000..a8556f6627d080f4483476ebe2b8738d636ee6ac
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060450.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19dd0b1621b6ca9d1329a2aaf9825b949dc9a44d6743a24ccdd100380399a329
+size 694816
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060453.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060453.png
new file mode 100644
index 0000000000000000000000000000000000000000..999ac7694ac9260d33c27cee4cbc2b0a9088a960
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060453.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:930fb2820ef69d0a47e55c37120414c470cba2392951ce2cd239424452be0f12
+size 695411
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060455.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060455.png
new file mode 100644
index 0000000000000000000000000000000000000000..e2ca2009fc21ce807ce28b7d0ff9b194179ed259
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060455.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0168a06a717a7a26d395befd6b0a2d560aefbaa0bd9138b7f80907538994139
+size 694407
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060457.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060457.png
new file mode 100644
index 0000000000000000000000000000000000000000..dbd820200d14b8c2eb5044916f13f33b7d2dfc8b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060457.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c332783dc01d649547f03089db0cb6b6c6b859bc4c51c3f70fdda69a6930c11c
+size 692601
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060459.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060459.png
new file mode 100644
index 0000000000000000000000000000000000000000..8ba0e1eb74108ba7945dc57bd972dde32d2073ef
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060459.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5407b56ea5fa1ab80757526d4644be440e8893e38faf0fd11ac8d341f1f479cc
+size 682462
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060501.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060501.png
new file mode 100644
index 0000000000000000000000000000000000000000..05946005b9a9f3cd8bfa0a668f08d7fc052a5192
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060501.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5ceca9695b7f263493208f1baf2b2ace9c5910bc7e1cd8f4fddf01f607c8e45
+size 676585
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060503.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060503.png
new file mode 100644
index 0000000000000000000000000000000000000000..dc7d65340e432150ba73a2ab18ccd9f39292e128
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060503.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:feb75c19043de6919b93b13f5c4c7047eb5aeea3fb9f0467221ba0fc3bb02ad6
+size 667623
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060506.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060506.png
new file mode 100644
index 0000000000000000000000000000000000000000..de4027c57577e672850ca91427c332486749cf9e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060506.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8792d385c301c4bf711a058d2ceaa2a9c3fa36742c5ae29b7fad4e113219eb1
+size 662661
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060508.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060508.png
new file mode 100644
index 0000000000000000000000000000000000000000..4bef28724dc199279bce34a4f5d246ba36ef8101
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060508.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa38726d5b59507b31d78405ec0c7fd6d90b84b4b59345cb745c004f16913843
+size 673311
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060510.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060510.png
new file mode 100644
index 0000000000000000000000000000000000000000..4a223bd37ec8db588f5015ce55c9d0a6b76fd443
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060510.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3f4b11f349740e54abe8def2941bd13c7035c9beb714cb495e19c9ee82b8af9
+size 705561
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060512.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060512.png
new file mode 100644
index 0000000000000000000000000000000000000000..b2ef7736ed184aa2cf53f624665a18c063fbc02b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060512.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be28fba96d2ac5e89ffdb78e7702f1ed6be61bd51d92ade7bc177403e516cb07
+size 734012
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060514.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060514.png
new file mode 100644
index 0000000000000000000000000000000000000000..01dcfe5e68bef2d9935195bd9d9726859f9f84fd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060514.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a3ea46db582e45c4e83d99967fbd97aa1306414790935943d7cab07107f3972
+size 743756
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060517.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060517.png
new file mode 100644
index 0000000000000000000000000000000000000000..117ec48cebbaada1fa830b46568c5a0a26bdbcb3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060517.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41e6a2df5875eb663f83e5f61efa3e502021e870f83a7348cd2fd9dc9c6acd08
+size 741582
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060519.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060519.png
new file mode 100644
index 0000000000000000000000000000000000000000..c19a18c9c683596e30982e705a030e0fdeaf96f3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060519.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43678739c7ecc177d551ea9ad1b48de1d104989b7af02b483e84d6919be0bd2b
+size 723520
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060521.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060521.png
new file mode 100644
index 0000000000000000000000000000000000000000..dca5e24c735b9ee4d0d103d438727132cb44320d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-03-28_926751/20250119_060521.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6e94dd351258597dc478364dae62162be88c96ed0aca48b7ed9a6a6965a6fda
+size 806001
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061102.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061102.png
new file mode 100644
index 0000000000000000000000000000000000000000..7e1f8f58cdc99d1692a7fffc0cce428e57f515e9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061102.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f060807fe9c808047e8b5f0a7f85aa365d8e3db40dcfa013411fcb0b240fb60b
+size 708985
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061105.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061105.png
new file mode 100644
index 0000000000000000000000000000000000000000..a52a7cff718d131f2008c401647a10f8a5669407
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061105.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24b0e7af89d7c26081aaeca5b02119c2f8d8a4f56fb81125f767f741dc3bbca2
+size 710129
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061107.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061107.png
new file mode 100644
index 0000000000000000000000000000000000000000..72526a5d92eaf77333664a51be2601769a4ab8d9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061107.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8a829fc7ca636868b3bcf27aa950de790e9deb1ff91e64b495e2a6dd1e637a2
+size 741761
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061109.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061109.png
new file mode 100644
index 0000000000000000000000000000000000000000..d047a6c156eb181e7fc5bbbbb1aa7b20d2f58dd1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061109.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1037facadec6a733498f3ba4a134486a3564f541d929bcb425865a0360f54f5a
+size 754947
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061112.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061112.png
new file mode 100644
index 0000000000000000000000000000000000000000..422a204202e67d352dea5be6dd09e23f3cd66cfe
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061112.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74915aa9f7bf0e7cee3b3d33d8358e1a2b0bfd2b018cc453b087d185b30a1e17
+size 758864
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061114.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061114.png
new file mode 100644
index 0000000000000000000000000000000000000000..16962d8a29271bb1f6e6e9ca272576eb66543e51
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061114.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d27006d4081c588a399cb971bf67f485556e3a472054be9e4277705ad83b78d4
+size 758663
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061116.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061116.png
new file mode 100644
index 0000000000000000000000000000000000000000..1001ffa9f479266933762967990c1f04aab3a840
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061116.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c17da1239b721b6cbfd9fd8962b6d941cc4817601bc4d999b88e61abbebefa27
+size 758688
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061118.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061118.png
new file mode 100644
index 0000000000000000000000000000000000000000..ef94bcaf4373ec0c246a254bf1a71f80cd8ce6a0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061118.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:701ec226ab7ff3b8c0d6d885377dff3bc0857d1fd824e4dddbb5032b8219dee8
+size 765261
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061120.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061120.png
new file mode 100644
index 0000000000000000000000000000000000000000..a359ac0b1acea95cd3b659af0835c22d152b2396
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061120.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b85b97b6d15844b899141054bc25dbbff580502b3f1b8b94f0fa9972e99e6cb
+size 782714
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061123.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061123.png
new file mode 100644
index 0000000000000000000000000000000000000000..db20e4f3c275edcda6fc0f3463dcd09d5a49b782
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061123.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5609f9474e4d9d720e8aa617227d07a9e65fe3bed1e37d6c5dbc29a348ad4fd
+size 787655
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061125.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061125.png
new file mode 100644
index 0000000000000000000000000000000000000000..306c7c3dbc2277906eb7268af26d9d06e194b035
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061125.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d71b1133db938e88d584843f48fc6c8e3e02d2254ead089a540cfd987e22b94
+size 794358
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061127.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061127.png
new file mode 100644
index 0000000000000000000000000000000000000000..cf928150c12d24c1dde525eab7609f727d5e7e95
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061127.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:859a1c62d1d77bae44c0f967d5b964c910c12a7ca52667ae9c365f1effb19a93
+size 797058
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061129.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061129.png
new file mode 100644
index 0000000000000000000000000000000000000000..9efc7953e7622c64c69401b3a95dd9e8854b5371
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061129.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c543ca44e2679b85259f88debd87752fe2223b56ed2b25c4a162645e130b9848
+size 808954
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061132.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061132.png
new file mode 100644
index 0000000000000000000000000000000000000000..51fab929c63dfd5193e7a4e536a9d0b6576b4ad2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061132.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44ceeaaa8c239cfb3baf25fc62018f8d4ab79c8963af37b5472bfbe4eb5e1381
+size 807596
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061134.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061134.png
new file mode 100644
index 0000000000000000000000000000000000000000..c4f80488046897a3be4de066f21aba44ce6ebc02
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061134.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f050466361aaaa6832779899e593b8411bc931740e57b3fe9e37762e71165fda
+size 810294
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061136.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061136.png
new file mode 100644
index 0000000000000000000000000000000000000000..0f83be51e5cffeb38d19df56c79ccca406c8fcbb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061136.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86fa7b9f7115e038ab7b7a722bc271203997b1460e7c629bf429eab86f2412da
+size 812164
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061138.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061138.png
new file mode 100644
index 0000000000000000000000000000000000000000..1aa5dba7359a56b8474f98ba544937879464e774
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061138.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2006aa6fe88dabd75b798731d48381ee375acf3c9d5b9aa2dec609c5d9d97960
+size 803831
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061141.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061141.png
new file mode 100644
index 0000000000000000000000000000000000000000..7fb34d78ce0ee61713e9c18b23ec49ba1a197904
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061141.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:320a8a3385f41cc675c429af1685e9676e7ad577deb3ec049eafa9fdc49ed119
+size 806935
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061143.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061143.png
new file mode 100644
index 0000000000000000000000000000000000000000..d73d1f98649d8e133148f673ec7bf77fc2f4d535
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061143.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83faae971279627a60dd89f3a8c4a41a4cd651103e8d709fd821df3f6b7fe25d
+size 808953
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061145.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061145.png
new file mode 100644
index 0000000000000000000000000000000000000000..060cbe2520e03f27d96be80b93a03d50cd9fca64
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061145.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f568ebe0cef54e767416900aa624059b97805247bd7339263159393f25a9d19
+size 808002
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061147.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061147.png
new file mode 100644
index 0000000000000000000000000000000000000000..351f34b1b10793046899569204b123d6c5f00018
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061147.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12ee1ef659d558fe6750c1e6134c5761430c19e6df3dbe292198bea40532eae8
+size 808636
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061150.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061150.png
new file mode 100644
index 0000000000000000000000000000000000000000..da78f600c2995885bfad008d82a46c5bc89fbe96
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061150.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88ff9239f9578db031128797042ba5e4e33d587691e4095e00530ce38bee4b77
+size 809436
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061152.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061152.png
new file mode 100644
index 0000000000000000000000000000000000000000..fb4115333d547c300104e6ee30c05834b0775855
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061152.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99a2daa52a715bc845c3a3116783d071e35c66dd229c8d41617976dd46354978
+size 809825
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061154.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061154.png
new file mode 100644
index 0000000000000000000000000000000000000000..c07828b1307a06d41f91344b2922da5742de6044
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061154.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19ad9cc0ef09f4bec930b4c90707ac35cb517985f5d18e883ad3ab2a276021e2
+size 815546
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061156.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061156.png
new file mode 100644
index 0000000000000000000000000000000000000000..2b341b60d8dcf99a9529e508d88ef92d63b27d57
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061156.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59bf07f75d129044683d853a3a82fbca9c036ff3dab6556626d7a44224feb3c8
+size 819227
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061159.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061159.png
new file mode 100644
index 0000000000000000000000000000000000000000..ffee1e9a2be3790d900b1ac52b62f14c9196167f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061159.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f17b78eaf0162a3945756405dbe155fb64eb288489c8eb6787ee25258a7302d5
+size 827374
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061201.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061201.png
new file mode 100644
index 0000000000000000000000000000000000000000..68d9a0a5e8f2c7b10f57fdc32042e5c4443b651c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061201.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f39dbff5b9fa08ef613bf81ed2178204de59fc73762af2ae40a578d66702bfbf
+size 838140
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061203.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061203.png
new file mode 100644
index 0000000000000000000000000000000000000000..5aada841ed67b1713d5fdc2ba40bdfe09d2a62f0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061203.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32fdc7043aa9dd04208dcef458e1a1890edc25770e1d20624b29903f24b5aa8b
+size 854591
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061206.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061206.png
new file mode 100644
index 0000000000000000000000000000000000000000..33a56f53acc4293ea32e7854321553a8e5ab89bf
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061206.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8757e1ba4d9be1fa178bd878d6acf4a40e225ce21fe54b5e68cc8ca58a3fa1e
+size 870488
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061208.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061208.png
new file mode 100644
index 0000000000000000000000000000000000000000..b05905daf77125d3078844df5eb77eb0ce74ca4b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061208.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3af66ec41322bc0d68e6ca27226f3f76d02ac87adf67cf264be83b5d5229a5a
+size 890247
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061210.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061210.png
new file mode 100644
index 0000000000000000000000000000000000000000..7f285e3380c666e16ed78ec7b51a3b135b8cd807
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061210.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af498f7f632bebe8ce2d9a786b1896cdd3ee59cbd348e1602c0702a9ae81c085
+size 901441
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061213.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061213.png
new file mode 100644
index 0000000000000000000000000000000000000000..76a11436f0e3c87daa7346ae409207bd00b62023
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061213.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8c4ba1bae0a8fa4b8ff9360846f0cbbcb2101248b7d519dba7f2e11b4861e61
+size 911482
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061215.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061215.png
new file mode 100644
index 0000000000000000000000000000000000000000..55608960e940534331286ae120c8cfce2f674c18
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061215.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e8ac476fc37b66895e1cc7210c233a816c0f17a0333a35e925ac06cd5ae3703
+size 919099
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061217.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061217.png
new file mode 100644
index 0000000000000000000000000000000000000000..3b132d58e8f1ef73d09c506ca546fddc28beb5ae
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061217.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bafb1e06249854d6e3a5ac7d14b9546f640256f57086149812eb4a22ebb7565a
+size 924845
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061220.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061220.png
new file mode 100644
index 0000000000000000000000000000000000000000..b8e39ab0fd9b7acbe929cc09b37a9f8e55da20b5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061220.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27bab78d70b475fe6b53d91932033ecd480d705f36238ae68ad96b4cd02e4d1f
+size 918133
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061222.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061222.png
new file mode 100644
index 0000000000000000000000000000000000000000..c5d3248bf86adbfc4bfa66841270d719b1d16778
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061222.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:062efb33a2dc8f04676342356069a230e005516fecd08cc17f5471c966468f2b
+size 930302
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061224.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061224.png
new file mode 100644
index 0000000000000000000000000000000000000000..4211c726020f604f0d69857abb27796c26217a51
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061224.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23931a0884570473051899379337486a96fc73ae974e37ceeac342d57ff0c094
+size 938023
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061226.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061226.png
new file mode 100644
index 0000000000000000000000000000000000000000..bec3afea02150859b7aef02143bc671984efbbf6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061226.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06435e5d46a23e66fd20e90c8ea345b2de536e1d30e8932fec769dfb7a233037
+size 942786
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061229.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061229.png
new file mode 100644
index 0000000000000000000000000000000000000000..f4909af58673864f2faa8ad6c2ada8e735744af6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061229.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:885f510c339844f9c0cb581351158956d3402adb941c55935d6ba2637de2ea1f
+size 941112
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061231.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061231.png
new file mode 100644
index 0000000000000000000000000000000000000000..aa3a1756286763bb3eee3453dab8ae74526f2e2c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061231.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:801d55ec7f866d784fadc2d7f598295540d72eb46f92b78b5b214b8cd49d9505
+size 913682
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061234.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061234.png
new file mode 100644
index 0000000000000000000000000000000000000000..d11b00fae0e04f0e1dca728f60502d100118e081
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061234.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:712d5d1be2c6d55355ced3b3b3a22d70276e96dc73030f16f2abbb87a0996d32
+size 855888
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061236.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061236.png
new file mode 100644
index 0000000000000000000000000000000000000000..2734a210be8125813e23c56884e5357ec6e51b62
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061236.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8503cf135fc0cfc6e23fd9a091748ba1c4e7ddccb078ea3354ea367f35480f0c
+size 814887
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061238.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061238.png
new file mode 100644
index 0000000000000000000000000000000000000000..f4a9fb6c9ad00801c13b66e2f93aeec74f1d4210
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_06-10-54_638892/20250119_061238.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30a5951abdd9d3244c6bc5eb3aaa52fad7314046b18060d05a64a4b65a0c56aa
+size 678306
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084336.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084336.png
new file mode 100644
index 0000000000000000000000000000000000000000..49a2d5f4d43e67e9001240d67f86c7e0a083c7b8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084336.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82c960261d465988d7e85f2f3ff00af77bcee92a1f46bfcdbf8a4a7fefa07207
+size 783751
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084338.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084338.png
new file mode 100644
index 0000000000000000000000000000000000000000..d5114a6837916b6354ac36c55ac490144223f115
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084338.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e96d65a91910bdb53194ea55f64b6bfbbad82fbd40069edde4e4de4e57bdac97
+size 808295
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084344.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084344.png
new file mode 100644
index 0000000000000000000000000000000000000000..b9b0f27c6b8f538d05ae081a5d9167862a4c717b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084344.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:235d7b937a4d567560785dd181a109b884c1ee45578c103efb017e1d75ce80b8
+size 826880
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084347.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084347.png
new file mode 100644
index 0000000000000000000000000000000000000000..82e44e0e3a42482fa0d68fb0f6ff8444fe8bb4bd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084347.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:055e2a6030124b2957be434391e0dab038f92ed30979f700af1059de374e1bb1
+size 832988
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084353.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084353.png
new file mode 100644
index 0000000000000000000000000000000000000000..1aeb11a46721333014f85f99b8953060be7481d0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084353.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73739dc14d144353e496ba0e764f3c8e0ea5bc87d0e1f730120e87061cca5213
+size 867552
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084356.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084356.png
new file mode 100644
index 0000000000000000000000000000000000000000..ad712efd8b3986f8e84db9f2e0d1a97a12b6c494
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084356.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a344c53be9ab7cafc1ac2fe9cd8c7a8edb9f1a2251619289a98ccee96680c0d5
+size 877346
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084358.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084358.png
new file mode 100644
index 0000000000000000000000000000000000000000..4cf84cfb0045f698d7cde3b0ce273878466474cc
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084358.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:825ba0e07bfd945021f47026ee847aab9285eee9b244f3fef1d51d40f5db0c6f
+size 881634
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084400.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084400.png
new file mode 100644
index 0000000000000000000000000000000000000000..2dec271d0464cfbef61fe2a1960bdb19f8215327
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084400.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f35f2632e7b43c9898664f076e2dd98e2078142650e13ee988d38a576557dc29
+size 876915
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084402.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084402.png
new file mode 100644
index 0000000000000000000000000000000000000000..7eb0d09e5605589c70d270a002379cdba18a69f8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084402.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c9bffd6e7fcd798d2c6e0495aca956b4ba84cf2c13622476bce73016fad56ce
+size 867714
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084407.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084407.png
new file mode 100644
index 0000000000000000000000000000000000000000..a4baa3ab7d02236d25db210758dd4cffd224880c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084407.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f8cf4c8df41c924dfaabd43004d98b151b927870214bd5eb4f4b8b632e817bc
+size 847442
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084409.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084409.png
new file mode 100644
index 0000000000000000000000000000000000000000..d47cf85b5c3bd9c7e0ee7b213389a78efd914e28
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084409.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63fa7bb0c5e4cdbb642f3fc78c0ea934010bd082623f093b894f3c038baeffc1
+size 800589
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084411.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084411.png
new file mode 100644
index 0000000000000000000000000000000000000000..f20bc5bb838333a988ffbdfc178f5160bcfa6517
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084411.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ca90a6bd14aafa9af4fc4bd364e6170025d6a1e14a6422a9e5d8680612726b2
+size 798868
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084414.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084414.png
new file mode 100644
index 0000000000000000000000000000000000000000..9b49b22f28956c4cb1c55b752789df9cb1270f5b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084414.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:adc0a4b68b6a9e0eaef30ed9e5a0c640e94e550e9b2c159647556709347276fe
+size 787691
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084416.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084416.png
new file mode 100644
index 0000000000000000000000000000000000000000..c212447535b7eb32fa8c81b25a5b106f85bebb58
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084416.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d45bbf2ed429898aa63553133fdbd811c40599b0e6f1faaa9f4166ee3e6c38a3
+size 781401
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084420.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084420.png
new file mode 100644
index 0000000000000000000000000000000000000000..6b9c4682483a2fabb48375065bcc9dd16e5c3816
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084420.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bddaa62d07c71f7658829017f9868c885f1d07a7d10551cf454ac5d06cc0166
+size 826397
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084422.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084422.png
new file mode 100644
index 0000000000000000000000000000000000000000..9aba38a9390408b0e2081f1f4664f33b8fb6dce8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084422.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4eb3ae9adde6aa105bca06e0c0954d5d211a6aa503ec3782311df57ac769f25
+size 829756
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084425.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084425.png
new file mode 100644
index 0000000000000000000000000000000000000000..06ee672900fdcc95e03596d443f5e8be1c75633b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084425.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52c8ce678b62102f6333eed2515e47ee7f80ab202be23ea0a1fce9b25f5c1b3a
+size 827722
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084427.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084427.png
new file mode 100644
index 0000000000000000000000000000000000000000..508a34660439db0ece9056e33888d83e49ee5454
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084427.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12764241f2ff1c24a357e183a7f658aa8f1c43a879993768f0176c4ac5934d15
+size 828243
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084429.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084429.png
new file mode 100644
index 0000000000000000000000000000000000000000..565b35711e969373621df8872b84ea96306926ee
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084429.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea2a839fa359f2c41f0a42ee287a402377ec8cd12bf2c5b0c901cfecf5df8bc4
+size 828810
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084434.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084434.png
new file mode 100644
index 0000000000000000000000000000000000000000..46f0e314ca097d5735f2097c170ee6ac9fd0912b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084434.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad0731b7728d99d31da7458a61555373b5e8ae5717ad69966ae48475225c38de
+size 743120
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084436.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084436.png
new file mode 100644
index 0000000000000000000000000000000000000000..2de8eac343b3a63d30ca8d2ac83fb8ae2b63d7b2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084436.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55c8307ace7fdd0e0293fddd0f44a4f413fab3b1f7aa85e151d4bb08c0e3a7ca
+size 728370
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084438.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084438.png
new file mode 100644
index 0000000000000000000000000000000000000000..38a45095b102bb31c9da1840df159a42f1568da2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084438.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64dbd52d0b9c6b636733913b005b1a6ec05561bc337e01f259c54a498bd74eff
+size 737141
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084445.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084445.png
new file mode 100644
index 0000000000000000000000000000000000000000..6538389c1ec631113123e51c4b9273e1bc1c89ed
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084445.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7cf32e495d3fa727736220e3f84f1782b289fb865a45b60e6c0574f09dc0990a
+size 744378
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084447.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084447.png
new file mode 100644
index 0000000000000000000000000000000000000000..14ab8ac07dd76a8e970c61cffda51435cc1cf65f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084447.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5eaf1940e7be2cb1442aa6973f43858f8a26fde7ce957d89347b8c99dbaab9d1
+size 745375
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084449.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084449.png
new file mode 100644
index 0000000000000000000000000000000000000000..e1697e0a7854775b227fe6547041eab5eecfe476
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084449.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1400340381de593926214f6aa873c8927f0c5f98243600e29ff75fcb31a53dd6
+size 752854
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084451.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084451.png
new file mode 100644
index 0000000000000000000000000000000000000000..c69635abb363c4ae9bd233c723cceed00e81c236
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084451.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a02e68d956e64fc69cc676b8bc6a25b4bd6a3996f4990b9fca52ba7e6bff1a02
+size 780224
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084453.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084453.png
new file mode 100644
index 0000000000000000000000000000000000000000..42de31b5d5e18161d668e0bc34fbf17a43fbbdd6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084453.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4163c36c3809d33df11b2664205729022efff841d14c585311678acd121fc158
+size 774984
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084456.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084456.png
new file mode 100644
index 0000000000000000000000000000000000000000..71ac7acdd7ca6f844a65dcc8ddd4bd2bf72197fe
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084456.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbeabb045f315a91663ed16cfc3c562cdd426bdcd7ca37e09fc7965b1c497b1f
+size 781347
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084458.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084458.png
new file mode 100644
index 0000000000000000000000000000000000000000..0931fc389579d851c34810d7674c4269c721e24e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084458.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:187a6262d90cfa0e0032035515b895105321603e8e5f2cb60478d86be897b054
+size 782118
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084500.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084500.png
new file mode 100644
index 0000000000000000000000000000000000000000..a077eeca6765a3efea1f2e233c0ab366f318ad87
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084500.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54105d631b8772288ebea0821c6ff85ad988707034bc7cf4e556af313df1417b
+size 807833
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084502.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084502.png
new file mode 100644
index 0000000000000000000000000000000000000000..9f9810ba0ad1f3857247e5c0075dfbc1c9af6650
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-01-19_08-43-26_896146/20250119_084502.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:329630cf1697d06b6334f03d52b2acf3ae204023d9e8f71ec86c5d5523400599
+size 839556
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-26-56_76593093/20250115_102700.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-26-56_76593093/20250115_102700.png
new file mode 100644
index 0000000000000000000000000000000000000000..89170758d02877ae17b4993726b384d9077e834c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-26-56_76593093/20250115_102700.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6834ff65c7b070ba0062d86ee09e9eb32d1368eab80ecc2a7829be6b12b909b3
+size 636767
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-26-56_76593093/20250115_102703.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-26-56_76593093/20250115_102703.png
new file mode 100644
index 0000000000000000000000000000000000000000..50f5f6c0e82ea69383fdd1daf62dd8b53a0552a8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-26-56_76593093/20250115_102703.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ec7aa907a7799c38bdfa77161f82d4cc65b5ee8088a3802100db015b670bfea
+size 809786
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-26-56_76593093/20250115_102705.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-26-56_76593093/20250115_102705.png
new file mode 100644
index 0000000000000000000000000000000000000000..801a547b2cc329567c1fc26cef61d129f436bb08
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-26-56_76593093/20250115_102705.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b9bb8c7bdd8754ebc291c4b4888ab6ceda9c27850ccce00e5a9ff7fa17d2fec
+size 782936
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-26-56_76593093/20250115_102707.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-26-56_76593093/20250115_102707.png
new file mode 100644
index 0000000000000000000000000000000000000000..98f1bf8b37af1ca3ee10531522b7e8d688bc1a4d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-26-56_76593093/20250115_102707.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c74a498c8383e929cbfd9a214ef385bb8771294dfd3b60987c5c947d1adc995f
+size 769670
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-26-56_76593093/20250115_102710.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-26-56_76593093/20250115_102710.png
new file mode 100644
index 0000000000000000000000000000000000000000..67dd12dbee1b23240d644e92d5664fdd77427333
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-26-56_76593093/20250115_102710.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd341455865cba749b3dbf9db1228ffd5122f4ad6e46bb179287df49ed390117
+size 758204
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-26-56_76593093/20250115_102712.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-26-56_76593093/20250115_102712.png
new file mode 100644
index 0000000000000000000000000000000000000000..0d804231beffc17a6f0c8c1f44ba43baa5f2021f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-26-56_76593093/20250115_102712.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07ee562827981b1c499c98b747607c1760752414a113584e06822f1669916d76
+size 753495
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-26-56_76593093/20250115_102714.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-26-56_76593093/20250115_102714.png
new file mode 100644
index 0000000000000000000000000000000000000000..5d261e4216b20c9ff2a4c019e29f083e3879b18c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-26-56_76593093/20250115_102714.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d28cf279cb932a5adc694c46bde408d6905737e6e7c4a96100d70a21b7db0cbe
+size 748749
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-26-56_76593093/20250115_102717.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-26-56_76593093/20250115_102717.png
new file mode 100644
index 0000000000000000000000000000000000000000..9d0cc5f4c33b3f836e68d5e5ae01146c01495f95
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-26-56_76593093/20250115_102717.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0a7ab98612bd5ceaeac48e1ca4b91cf82bfd95f9af4122e4de43e4faa0b4333
+size 747495
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-26-56_76593093/20250115_102719.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-26-56_76593093/20250115_102719.png
new file mode 100644
index 0000000000000000000000000000000000000000..3173c55980b69f605b8ff8f7af55af7c1207f547
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-26-56_76593093/20250115_102719.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe1a8d30110aca137583f5c116e05bb9cacdfe5f9dbdb090f3d9f5a055c2f087
+size 736975
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-26-56_76593093/20250115_102721.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-26-56_76593093/20250115_102721.png
new file mode 100644
index 0000000000000000000000000000000000000000..c41ab29e309d8a63ffb52c65979d2d6f270b4ef0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-26-56_76593093/20250115_102721.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b9abf5a0bb1fc1cc8a52f545bad39c1588d189ad795e0000f7dadf08931b067
+size 718190
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-26-56_76593093/20250115_102724.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-26-56_76593093/20250115_102724.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c615e739290c3f34760733d36ec5d5285f9fe4a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-26-56_76593093/20250115_102724.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37667d3d36ac3b5bf653e2223fd04f974f1d4b1c38e1115f94cd00e91f14dd60
+size 700732
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-26-56_76593093/20250115_102726.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-26-56_76593093/20250115_102726.png
new file mode 100644
index 0000000000000000000000000000000000000000..db1395e3fa119acac20eecf17a745011f643fa3c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-26-56_76593093/20250115_102726.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9eb6bdc734877d5eb3fe7733d24d1732d6572af271101aede77b13e38300e898
+size 702261
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-26-56_76593093/20250115_102728.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-26-56_76593093/20250115_102728.png
new file mode 100644
index 0000000000000000000000000000000000000000..41c99c67508d75e43073952648de550f8d33468e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-26-56_76593093/20250115_102728.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c4ac687d3b23dfaa453ea56b501e659ce51ff9dd0d1e7e4b859101615b2e044
+size 705134
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-26-56_76593093/20250115_102731.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-26-56_76593093/20250115_102731.png
new file mode 100644
index 0000000000000000000000000000000000000000..9f2ca243d92473379681346eb1f520c683ff598b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-26-56_76593093/20250115_102731.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df8bdc4664cdb05cd2ee0917e92548883860df523d6e2af0321d046e7c9111fa
+size 720995
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-26-56_76593093/20250115_102733.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-26-56_76593093/20250115_102733.png
new file mode 100644
index 0000000000000000000000000000000000000000..56e63dae5b92ae2662d16b9fb067707326aed3f3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-26-56_76593093/20250115_102733.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5542e688b9250faf1d8cf0274f3aca762651d971704a9e9b82e414000e707b7
+size 743418
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-26-56_76593093/20250115_102735.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-26-56_76593093/20250115_102735.png
new file mode 100644
index 0000000000000000000000000000000000000000..c54b46607f6e86bf0ba9e0d50b25bb4c39365ea1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-26-56_76593093/20250115_102735.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:059d2055c0d2085854f4615cd2f239c0a1f0b08399a248502e2ee8b84ac4f68d
+size 749523
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-26-56_76593093/20250115_102738.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-26-56_76593093/20250115_102738.png
new file mode 100644
index 0000000000000000000000000000000000000000..0dabb419ecbb3afa1f884d3e29103ac7bf1e9368
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-26-56_76593093/20250115_102738.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b4dc5c8dd4c8c82efc276b7db7265702da1902ee1cddb3a3a38640fab300d64
+size 767139
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-26-56_76593093/20250115_102740.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-26-56_76593093/20250115_102740.png
new file mode 100644
index 0000000000000000000000000000000000000000..fbe3852dd4b2bab9375170551cfcffa841d2ce9b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_10-26-56_76593093/20250115_102740.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f13ed98789256f14f1fa62778bb19d0a0f024d4f66b0941ea08fd039e28809f
+size 538527
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122634.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122634.png
new file mode 100644
index 0000000000000000000000000000000000000000..bccb530ebd41b618350f70d191c38f72e4c3c341
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122634.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3032b578cb7790677412a1916d124b65b989260ab1f7ca941483c3696783029a
+size 934390
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122637.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122637.png
new file mode 100644
index 0000000000000000000000000000000000000000..7fdd1688ba9af42f34b36a51bdc9a17afe7d81fe
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122637.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3e35ea37a6139b517510585a3e0026c16abc6ead216efe41efe90f1f2061658
+size 921245
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122639.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122639.png
new file mode 100644
index 0000000000000000000000000000000000000000..79b42eb4b78fe4b92499e63156274b43c3f5750b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122639.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fec0e32fa2cc6f324259a9ee6abc759bf3930549532e7714096a73a95d38dd57
+size 898264
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122642.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122642.png
new file mode 100644
index 0000000000000000000000000000000000000000..f6b33e2a10b6adac92e10089fd132e8a32470df6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122642.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b07ee22703484467c9604f0feb75eed7598d9d34da954bc96181e2d626acb26
+size 913581
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122644.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122644.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc6f0eb76911145d6162a344091f9bd60b713be6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122644.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:360928a341e39ef2a33eee6ef480c266abf60547dbc954873122fb01773b79e0
+size 929590
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122646.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122646.png
new file mode 100644
index 0000000000000000000000000000000000000000..9527ebdfbac88b9da1f210974d16a5380bd48651
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122646.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a3619344af6505120fecd015c58ba0d8d3cf32eae2c3ece668f6dd66e339f31
+size 949448
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122649.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122649.png
new file mode 100644
index 0000000000000000000000000000000000000000..09cf95cd5389c0a36769875d40f6823ed46dd375
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122649.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37309a49507b878ed89f5c3caca1875195f68f1c282d02dcc2467ec3920ad51b
+size 960755
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122651.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122651.png
new file mode 100644
index 0000000000000000000000000000000000000000..90c1e50b53b29c24f6d20056ada3b0fc80e6215b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122651.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4616cdc2de5707f4bca52d4de7eee7ca1abefc8a4845a2e7345e9f9fcd16e69e
+size 955281
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122654.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122654.png
new file mode 100644
index 0000000000000000000000000000000000000000..bddbd0dc186453a998262737b9730ece7b18f776
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122654.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2cc9973ba9c1c19ded3f543b71ffd4a0520140f38ff429a64a9960121c2db704
+size 945942
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122656.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122656.png
new file mode 100644
index 0000000000000000000000000000000000000000..7ae95f41c81c3f67799a77f3d7777de30872c48b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122656.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:031761d217224f3a0c4b97ee25ed85579fec4b19c88902d1a1c5b02604274f5d
+size 937393
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122659.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122659.png
new file mode 100644
index 0000000000000000000000000000000000000000..f5f1fae947e1eb7329e6b1aac087d1ddb0b7626c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122659.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e74da0eacaf32ad3a5453adfdf3928d2c65813dcf18e06ee422a271e21fe96a
+size 941324
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122701.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122701.png
new file mode 100644
index 0000000000000000000000000000000000000000..1278ab60c873a48dad244da5cd4c89920ef74ec1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122701.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ddb65c0dcb0843ca9668de2901502eecb3fbf4f3382de5f7248a10a08d704dda
+size 949047
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122703.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122703.png
new file mode 100644
index 0000000000000000000000000000000000000000..1eecbeb9fdfef24e84b21819ec8fc215a50d65a9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122703.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d99b5c24d6af3546e7afa9313899291e69964dcb0b2050ef549b5dc39f997dcd
+size 945249
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122706.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122706.png
new file mode 100644
index 0000000000000000000000000000000000000000..dcbf8ef61a0736295eca03de8d46f0bd5bb6531c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122706.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c613a0a560fa000d5289f59ba6aeff41bcd1c0f75596d4f993cf852f76c6cb48
+size 941811
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122708.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122708.png
new file mode 100644
index 0000000000000000000000000000000000000000..c03ec3df01aae19770b5be3ab17d460c092763c9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122708.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ba27dc8213799cf33bd654ff1b7c726237bd60e589db0d3857278073a087115
+size 935698
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122711.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122711.png
new file mode 100644
index 0000000000000000000000000000000000000000..dc4cf2c71b18d1ee8beff2cdceef675eaf02a615
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122711.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea1f6d45a9a47bf083c98b771c41bcca34ae323837dc09a31ad0d61b18622305
+size 933782
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122713.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122713.png
new file mode 100644
index 0000000000000000000000000000000000000000..c1491a088d4a3e6fa5a5b2386b0d8d5dfb327d5d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122713.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8db7ce987ba46930192a38fb2f55a07662fba92686d98bf1518c8fa5e464ad5
+size 925089
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122716.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122716.png
new file mode 100644
index 0000000000000000000000000000000000000000..3d90926ea0d32fce927dff7b5570d21f9d55b113
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122716.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7ac8887a366b894c12d1669b43f8b3fda6f4ffc16ac65317ce4af4a490e17d1
+size 907154
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122718.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122718.png
new file mode 100644
index 0000000000000000000000000000000000000000..18d272c7ccfd5a85bd1bb77c5a50799ac0fc2636
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122718.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c64b021cd2107b06d2bcc9b155100286c8b0d9731743bacb9c1faa410fbd57c0
+size 898148
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122720.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122720.png
new file mode 100644
index 0000000000000000000000000000000000000000..9cd621c128f3e99221e6f5f5869a13605857d1a9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122720.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5c1733ea6d7621afd434624e9bac26b95ddab9303a80939b972f684536c3e35
+size 897647
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122723.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122723.png
new file mode 100644
index 0000000000000000000000000000000000000000..084237b4e924629516a080e70b60184a7968cd12
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122723.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1020b79e7104b459c165f908a1c7e60321e968e7040c3f722a5ae8eeaf72ae7
+size 898341
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122725.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122725.png
new file mode 100644
index 0000000000000000000000000000000000000000..53b2a07c0a735a8c3b1063f26e78db7579fddbef
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122725.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c6647986a5dddf537e3010529b3ada39cc4586b7e9d9241c853b8302f43cd56
+size 895518
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122728.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122728.png
new file mode 100644
index 0000000000000000000000000000000000000000..8f31df8d7071e0dddaaed9e0461b328887c2d2c2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122728.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02903528bf725f2ebb11a6bdfc477a5bd76db4778a47ec15c9327ed46b359460
+size 892404
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122730.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122730.png
new file mode 100644
index 0000000000000000000000000000000000000000..9a707653ba11300cb0f7dc55fba933dbbdb7f0a1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122730.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e16a2bd64062e47a83d97f91c056af675dedeff3be0aa0dd033165999589f3bd
+size 883331
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122733.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122733.png
new file mode 100644
index 0000000000000000000000000000000000000000..01211b36afba6b2847cf647c3b044b730dff5e94
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122733.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b79de0ca4e5a25935325a30890c9a4373f1b6a99ad9b4561822c9d42297e90d
+size 877695
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122735.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122735.png
new file mode 100644
index 0000000000000000000000000000000000000000..cd3f4ac6f9aad8f2997aadf6d32b98fc8cedd532
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122735.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50c31d51a91852e8b64c7edcca0ed8c90a3366451de89f065d03ec146e0523d1
+size 866651
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122738.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122738.png
new file mode 100644
index 0000000000000000000000000000000000000000..02de9c8e73a99b26ae8eecfca74776dce3eaab17
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122738.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d0367b21031dfc3a6248d4228fdb86c932f911b95b71da50e0102571f8fe2fe
+size 842516
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122741.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122741.png
new file mode 100644
index 0000000000000000000000000000000000000000..94c6c6964d131638fc5e628d98efeb85bb656068
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122741.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:737c81b7753336dc1df047ecb9e1c7aa0f427e8fc109a94a3f1b2f8db3d0bce3
+size 846501
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122743.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122743.png
new file mode 100644
index 0000000000000000000000000000000000000000..5e4fadd890500275699448598350593da2fef4e8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122743.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85bba7cdba0937bdaf9611e39885459e668afc4b7fddb7ab7ae3a9acfa59678c
+size 848143
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122746.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122746.png
new file mode 100644
index 0000000000000000000000000000000000000000..b92d31c3f335745408fd620eecb86fbf58ded35f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122746.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e42291ee456e745d1191b582e37ffdbae5686f1f08a43091c5c41db3fe22861b
+size 849650
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122748.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122748.png
new file mode 100644
index 0000000000000000000000000000000000000000..32b7708379fc05527b45376c02a94ab242f8c790
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122748.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72d4ac105295e792474f8ad78a148504190832295d6e2a4e8fd7dfdd4a796739
+size 849703
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122751.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122751.png
new file mode 100644
index 0000000000000000000000000000000000000000..62ea7b91b20935027f1b45847c2798e333879956
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122751.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fcb7f14c14cd08a5eb63297b70b05e4e111861d8e3103e23c0c3472478161245
+size 850592
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122754.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122754.png
new file mode 100644
index 0000000000000000000000000000000000000000..e812e234ded84c817080d5bd7925f324600798a0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122754.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4b6c53840593c6b365e4cf38c6e4b89ce8c6185d6f1708034f3d70f4a9823b5
+size 854351
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122757.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122757.png
new file mode 100644
index 0000000000000000000000000000000000000000..afe7c1b76290a705696113b10ac79b30fcfd706c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122757.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4253ad2eeb0e217f35c39b5aea9753f4f1848c8bb6463f95bb5ead481817245a
+size 853400
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122759.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122759.png
new file mode 100644
index 0000000000000000000000000000000000000000..6a5cf3b8344166b56de44c8e9181e98b73c38118
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122759.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d5fd3bb0ad7be3716a115c0ae13831e467243c2e3ebda9afa59bf3ee85386f9
+size 854737
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122802.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122802.png
new file mode 100644
index 0000000000000000000000000000000000000000..41d0381f71e5f33e5c0c191b3aca80d24bd9039f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122802.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b28f8c3d093098587b4ec9dd93f16ff52530707ad4e5773c781bd5f2081f21f3
+size 820781
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122804.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122804.png
new file mode 100644
index 0000000000000000000000000000000000000000..256670a9e1ff89ddc53c9c8109b9dcb964d94d93
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122804.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7dc64f002cbec98038f99546279c9a66abbe6de4e30b116cb62098c3ec7e091
+size 807534
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122807.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122807.png
new file mode 100644
index 0000000000000000000000000000000000000000..3ab487a52bf99583bab9e4f26a1327f60db16f1b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122807.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75a008e056bc13066c306371e7b696f8f9abf4912f8b698f417f7c61fe578109
+size 796104
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122810.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122810.png
new file mode 100644
index 0000000000000000000000000000000000000000..b442144892433493d2723bfe49636ce6ecbf3ba6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122810.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44e81269b8fcb78b237c778541b7cdb63a169d844f7ffcd6d1bf0d2e3726aa90
+size 790816
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122812.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122812.png
new file mode 100644
index 0000000000000000000000000000000000000000..42c6d61835b22c760a893e42a497a3082a5e0a78
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122812.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2b5ed58f0b587c7f3cedcb5596c6ecece3da37344475780f2981581d63de403
+size 788241
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122815.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122815.png
new file mode 100644
index 0000000000000000000000000000000000000000..90818c232e4ba2a3eb3723665448627bbbf47cc7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122815.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:533d7f5aa5d0418a63c9243578d8573ee09bb734e6cc2d08e7b4da6633bf6b9b
+size 802022
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122818.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122818.png
new file mode 100644
index 0000000000000000000000000000000000000000..12a42f6e1d1e763b00d7b9e2d4c60f368c46c81f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122818.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03f290a78cfa9efdb987a94d32e702ae402a8e01019570ac167ebbe450f0de98
+size 806431
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122820.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122820.png
new file mode 100644
index 0000000000000000000000000000000000000000..cd1197a90afefbf37680a0baec74efeeabe7137d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122820.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e043992a4a8eebf5f8d200d4ad242732abbf191b7a9ab6bd534770dac2068d9
+size 831108
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122823.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122823.png
new file mode 100644
index 0000000000000000000000000000000000000000..dfb93a20eaea0a453de40bc824b0eac08a55e23f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122823.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bc52381d263d53e5f91d5c0e38a04a09e99ca4a86a2ce59c2dad84cd52502e2
+size 857622
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122825.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122825.png
new file mode 100644
index 0000000000000000000000000000000000000000..e915318ad1b351165bad3e48191068983b06d462
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122825.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:518766164333b07487730367dbb553b6719db2533472329f9be24264c1a9bd2c
+size 871580
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122828.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122828.png
new file mode 100644
index 0000000000000000000000000000000000000000..7258edf100a5b3673f3ca7fdea77ed79edc29846
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122828.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ee703d8521b85bfd006da1a473def77785cbe478fc898a54284ae5b651ca500
+size 877428
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122831.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122831.png
new file mode 100644
index 0000000000000000000000000000000000000000..eb20cf68b7402c67d54a758dd3f714726926bc8f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122831.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd778aa7dbf71f2a866d7088414b67289d186477fb57c18b2c4fa190834c4a87
+size 861343
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122834.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122834.png
new file mode 100644
index 0000000000000000000000000000000000000000..3b0f7fc37d34e5bcb6c3248649562c045ea7c0ba
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_12-26-31_1910858270/20250115_122834.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d83fdbab393eef5105d26c69080dc2a9a5bf80d5db352f7cf54e57fbee9c9e64
+size 835946
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_21-11-11_1607774548/20250115_211144.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_21-11-11_1607774548/20250115_211144.png
new file mode 100644
index 0000000000000000000000000000000000000000..f538ff986f4a62e1217dcf5aa092cb720cb816dc
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_21-11-11_1607774548/20250115_211144.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:410197dc79f87e176f29129cf1e9244247f71cca1668fb2a20b9699fa726093a
+size 736485
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_21-11-11_1607774548/20250115_211146.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_21-11-11_1607774548/20250115_211146.png
new file mode 100644
index 0000000000000000000000000000000000000000..d203292dffe89fbbdddf98b2e5a9fc13e849985f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_21-11-11_1607774548/20250115_211146.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:397450e1a0cfe1027db156a03124fedc0c6cde21d0b5c614fca4943e8e07e447
+size 737967
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_21-11-11_1607774548/20250115_211151.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_21-11-11_1607774548/20250115_211151.png
new file mode 100644
index 0000000000000000000000000000000000000000..c7a7505696762a70cc49702f84e246e64a7c5222
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_21-11-11_1607774548/20250115_211151.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11b3986a3f3be0d99e4f4f280209664f6ef936fa25275770484d1f911a433b9f
+size 731620
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_21-11-11_1607774548/20250115_211207.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_21-11-11_1607774548/20250115_211207.png
new file mode 100644
index 0000000000000000000000000000000000000000..c4d767522b369d44461ab1e40b71fb88beb86887
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_21-11-11_1607774548/20250115_211207.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2896219bc77d928e405636682d68d84cdbe7bdb1333af784fe1966e12a4e0a4
+size 731767
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_21-11-11_1607774548/20250115_211212.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_21-11-11_1607774548/20250115_211212.png
new file mode 100644
index 0000000000000000000000000000000000000000..579b399e6c915669cf60960228838be9a7a3ba5f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_21-11-11_1607774548/20250115_211212.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82e8b56b7a1837f9ec891b50934c00b45d6280f287de89a448bcf51499733b41
+size 755438
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_21-11-11_1607774548/20250115_211248.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_21-11-11_1607774548/20250115_211248.png
new file mode 100644
index 0000000000000000000000000000000000000000..04aa3a1d1b5f62c5fb961c47e3b46bf4dfe78dfe
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_21-11-11_1607774548/20250115_211248.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37e98f852add20aa2876bfc7119bdc8ded367fb3d756d0c34a393cc4f3109a29
+size 740313
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_21-11-11_1607774548/20250115_211256.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_21-11-11_1607774548/20250115_211256.png
new file mode 100644
index 0000000000000000000000000000000000000000..c6ea22d5dde10192b485303b468de56e815bfdc4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_21-11-11_1607774548/20250115_211256.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c5ca83826d373dfd527d485bff82c7b5383ac41be0bbfed621515ec136a63d3
+size 737473
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_21-11-11_1607774548/20250115_211303.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_21-11-11_1607774548/20250115_211303.png
new file mode 100644
index 0000000000000000000000000000000000000000..d6ff8815aa4cd980f3a8fc99291a4ea4a584d9d2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_21-11-11_1607774548/20250115_211303.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4afac108acccd015a1c6308e670a692a4b30cb84195543f52dcf21e0fe77ea2
+size 749415
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_21-11-11_1607774548/20250115_211312.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_21-11-11_1607774548/20250115_211312.png
new file mode 100644
index 0000000000000000000000000000000000000000..588ad8bcbafc2acede2c5765a9d5e2e1214d9cac
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_21-11-11_1607774548/20250115_211312.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7aca6b0635eaf26dfb22ac2776e2005b2409f07ed5049e69238e6818982592e9
+size 784570
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075000.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4270afeab15f61b1495aa23dc1af76ded481765b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:681307e13f50ec435f3fb6c1b4134d9109d7bd70ee24c6d9658f763b420a733d
+size 806667
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075002.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075002.png
new file mode 100644
index 0000000000000000000000000000000000000000..65b0f135f433693ab2c68dd5408069530fe6feaf
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075002.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f5b3469379859eb3459668bd9e6e720773090dfce4cd22837f0a312d46eed50
+size 800927
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075004.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075004.png
new file mode 100644
index 0000000000000000000000000000000000000000..9d05d604c4b7c305f8a43f2081970968f186d62f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075004.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:529387cf63167e712ed7ff7e5d9d62591b66f20cd3e450a661b30034261054b2
+size 800836
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075006.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075006.png
new file mode 100644
index 0000000000000000000000000000000000000000..3a9857af60a754a42e0b8952ec59f8bb139b7e92
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075006.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f240cf05db36d1e295d80bb038a1bb71649519b3788e57206e0bdd23a89b8a9
+size 803800
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075009.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075009.png
new file mode 100644
index 0000000000000000000000000000000000000000..2c07fe416ad86dc8f94ff630555afab669d5f190
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075009.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd1734265459da738d20c1fba06d4ecbca417dfc64e2b6ddc92ce6c458c36ee3
+size 804904
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075011.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075011.png
new file mode 100644
index 0000000000000000000000000000000000000000..7079a79196a37ea2598e2bd1347c5f6a547dc1b5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075011.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55c3322a1ef11f9807e0267d39dbda21fc14e79d5a704d7128f865ca27b1f366
+size 806247
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075013.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075013.png
new file mode 100644
index 0000000000000000000000000000000000000000..d1dd0b2082fa2aae977cbd03244c5097975f3c8c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075013.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c29bca0613a2ecb0a0c976d3a6e200043c34ccb6944fc1e6b069363ea937f97
+size 808192
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075015.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075015.png
new file mode 100644
index 0000000000000000000000000000000000000000..8570fbe791d23ef10baa68b976c032cf876d04c5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075015.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef4b6178e8345e0856bbfdc06db6e8966ea32faf5f5b8499dc438b964213f7f6
+size 811861
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075017.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075017.png
new file mode 100644
index 0000000000000000000000000000000000000000..434bba57e51f0f3f9a9b059db672f10098133581
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075017.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:649a9d7fee36247fb8fee5ec623e97534880961431c15e419966cc0945b25190
+size 821367
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075020.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075020.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c0ff05e397ebb03bb574e13095b4c6ab6c88c26
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075020.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18645e6941140b3a721ac210c4a8d1c7222768c8e4c49da2e12b3fb7bcbcf528
+size 834368
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075022.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075022.png
new file mode 100644
index 0000000000000000000000000000000000000000..18b5a3e6b0e3335c77979e4f8832e97498af4b49
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075022.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b382a6a4e21230ca0aa4bb126e8446f48306cb89ac10faded13bb6e3ddbfcb9e
+size 829740
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075024.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075024.png
new file mode 100644
index 0000000000000000000000000000000000000000..3ee9cffb0e97eea031ee32195749bb451c5861b8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075024.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d05a05486fabfda34dfc8e4d6ec85b40f2753145621d8b3460dd90800830d714
+size 827542
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075026.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075026.png
new file mode 100644
index 0000000000000000000000000000000000000000..b86ac47aecb81907ad4a692df78b3cc87ec556b0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075026.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:756e96ff6e381178573973fd1ffde5e511c14c431d9a426b78ea29d45bdbd36e
+size 821188
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075028.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075028.png
new file mode 100644
index 0000000000000000000000000000000000000000..37b0dd4da1745462b39e7bded620e98c4104f268
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075028.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ff1760a1df783e3e173989085b65db7fe1c61bd0a26ed203f43e3d66c324204
+size 821839
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075031.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075031.png
new file mode 100644
index 0000000000000000000000000000000000000000..76c16d4e12ea6316165bc0d73607fd626001ce6d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075031.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87917b58ee37bb934ec4396e7012c1dbc73ceca053987ca5b823058c0ed43287
+size 817385
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075033.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075033.png
new file mode 100644
index 0000000000000000000000000000000000000000..265a372c283c4bd9cd645bd7225d75a65d308a6b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075033.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65b29a1f63f917f6703c2b4b6027c55ff10aca535d4ce71c1456f46b49256ca5
+size 817704
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075035.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075035.png
new file mode 100644
index 0000000000000000000000000000000000000000..265b43f76f1eff84051256d1e3622950b0d28c4b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075035.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eea138e76dbe6fa865891bb0c4337dbc7191d827c923c1bc80bc598c7cf1d36f
+size 828946
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075037.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075037.png
new file mode 100644
index 0000000000000000000000000000000000000000..3b134d6ce8b28738bc145213318efe698a6bb8cc
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075037.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5a839f112d0372bae02886b14f9eed63bf141f7d708516166adfa3520acd7fa
+size 821484
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075039.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075039.png
new file mode 100644
index 0000000000000000000000000000000000000000..f3abf8327c2fb4646eef97cf375b70048e53a320
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075039.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de129f3ca639c66c94e3707b21c04569939323a5a31421bfd3c1ff5b8ea23540
+size 811669
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075041.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075041.png
new file mode 100644
index 0000000000000000000000000000000000000000..ec856b950545bb66a47abd498df37985ddf70237
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075041.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f77b3020dc62ae9fefdf52492ad1ca0a68fac5090198c898f22d0f981128e13e
+size 816696
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075043.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075043.png
new file mode 100644
index 0000000000000000000000000000000000000000..721be044ec7b05cb4f56563689073432ec239b64
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075043.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:369d22053de9d3732ec6e16f01fe9cb7826f38b897b5a1f5edf70c2041a27ccc
+size 783807
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075046.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075046.png
new file mode 100644
index 0000000000000000000000000000000000000000..a4fa90adf180234242756369c15523ffbc2b99a3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075046.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88bfea54a0404ee38911cceddb66bf637a352071608acde48c478cf494126a94
+size 765903
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075048.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075048.png
new file mode 100644
index 0000000000000000000000000000000000000000..504ca803788d0892feacbca37bde675b3909b1a3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075048.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6747181020559073e6850389992e427a4de8a4ee2fe5c5e6dbdbafb8bb6901bb
+size 756537
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075050.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075050.png
new file mode 100644
index 0000000000000000000000000000000000000000..55f55d48a38df820346fdd2b96757daa80aa6793
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075050.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5748f9296ca6e839aed7cef0c275a89aded550d5cdff33db6c31a0c362036738
+size 751892
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075052.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075052.png
new file mode 100644
index 0000000000000000000000000000000000000000..1bb3744bb2eec3f9b1913b355b7d705b05ea79f1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075052.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:debd2973d1ce05ac472830b4faff0260b627e12e4d84c7534cfb2fa6e931c6e5
+size 733926
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075054.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075054.png
new file mode 100644
index 0000000000000000000000000000000000000000..9f3dc65f9c703326c447f86327637126edae8e35
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075054.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:818a20aded2942b2397e907f0aad71c1d40ad3529a1bad9ac77eda3f88fc2729
+size 734884
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075056.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075056.png
new file mode 100644
index 0000000000000000000000000000000000000000..1ecdf4ee19e5335861bd8a7b0d368d6280e84635
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075056.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4fcda41004193a97a9625b829a20afe53ed1461e7007563e31366558fb1f325
+size 710462
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075058.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075058.png
new file mode 100644
index 0000000000000000000000000000000000000000..b32202903671f0af91238215efe808a44e35d886
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075058.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43830590f387ffc67dfb1b2f40d487d5eaed7d675e83fc308b7a401466861792
+size 693926
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075100.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075100.png
new file mode 100644
index 0000000000000000000000000000000000000000..9f619c3128f6cb698449622973c38959c5467768
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075100.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aff97173bb48afe7b7db22ae178d1f6d1734b9d79f044f89f06952366db1d619
+size 697029
diff --git a/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075102.png b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075102.png
new file mode 100644
index 0000000000000000000000000000000000000000..0730784d26edd655166a73f252e86e9c05ed3d04
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_average_updown/2025-1-15_7-49-56_1025533459/20250115_075102.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b80b3e9859d55ba7762a19068dc68a82c5a9ce30f7c0d59fe8d8e66ef351ad6c
+size 775922
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-29-47_468703135/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-29-47_468703135/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a04e6273ae212f3cd426b6bc6c5beac2c47db690
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_20-29-47_468703135/pose.jsonl
@@ -0,0 +1,405 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -497.9110354244834,
+            26.477637491643875,
+            2.082932659516125
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -497.9110354244834,
+            26.477637491643875,
+            5.082932659516125
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -497.9110354244834,
+            26.477637491643875,
+            8.082932659516125
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -497.9110354244834,
+            26.477637491643875,
+            11.082932659516125
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -497.9110354244834,
+            26.477637491643875,
+            14.082932659516125
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -497.9110354244834,
+            26.477637491643875,
+            17.082932659516125
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -497.9110354244834,
+            26.477637491643875,
+            20.082932659516125
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -497.9110354244834,
+            26.477637491643875,
+            23.082932659516125
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -497.9110354244834,
+            26.477637491643875,
+            26.082932659516125
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -497.9110354244834,
+            26.477637491643875,
+            29.082932659516125
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -497.9110354244834,
+            26.477637491643875,
+            32.082932659516125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -497.9110354244834,
+            29.477637491643875,
+            32.082932659516125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -497.9110354244834,
+            32.477637491643875,
+            32.082932659516125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -497.9110354244834,
+            35.477637491643875,
+            32.082932659516125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -497.9110354244834,
+            38.477637491643875,
+            32.082932659516125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -497.9110354244834,
+            41.477637491643875,
+            32.082932659516125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -497.9110354244834,
+            44.477637491643875,
+            32.082932659516125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -497.9110354244834,
+            47.477637491643875,
+            32.082932659516125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -497.9110354244834,
+            50.477637491643875,
+            32.082932659516125
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -497.9110354244834,
+            53.477637491643875,
+            32.082932659516125
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -497.9110354244834,
+            53.477637491643875,
+            29.082932659516125
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -497.9110354244834,
+            53.477637491643875,
+            26.082932659516125
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -497.9110354244834,
+            53.477637491643875,
+            23.082932659516125
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -497.9110354244834,
+            53.477637491643875,
+            20.082932659516125
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -497.9110354244834,
+            53.477637491643875,
+            17.082932659516125
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -497.9110354244834,
+            53.477637491643875,
+            14.082932659516125
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -497.9110354244834,
+            53.477637491643875,
+            11.082932659516125
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -497.9110354244834,
+            53.477637491643875,
+            8.082932659516125
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -497.9110354244834,
+            53.477637491643875,
+            5.082932659516125
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -497.9110354244834,
+            53.477637491643875,
+            2.082932659516125
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "dark brown",
+        "feature": "tall skyscraper with multiple sections",
+        "position": [
+            -495.83312,
+            104.72432,
+            8.19945
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_21-25-16_1937477084/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_21-25-16_1937477084/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f6a5cb4ce22526aab7500152b22ceb0f1127629c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_21-25-16_1937477084/pose.jsonl
@@ -0,0 +1,691 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1052.5354339928592,
+            1388.217140820445,
+            0.6922258192304263
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1052.5354339928592,
+            1388.217140820445,
+            3.6922258192304263
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1052.5354339928592,
+            1388.217140820445,
+            6.692225819230426
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1052.5354339928592,
+            1388.217140820445,
+            9.692225819230426
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1052.5354339928592,
+            1388.217140820445,
+            12.692225819230426
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1052.5354339928592,
+            1388.217140820445,
+            15.692225819230426
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1052.5354339928592,
+            1388.217140820445,
+            18.692225819230426
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1052.5354339928592,
+            1388.217140820445,
+            21.692225819230426
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1052.5354339928592,
+            1388.217140820445,
+            24.692225819230426
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1052.5354339928592,
+            1388.217140820445,
+            27.692225819230426
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1052.5354339928592,
+            1388.217140820445,
+            30.692225819230426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1052.5354339928592,
+            1391.217140820445,
+            30.692225819230426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1052.5354339928592,
+            1394.217140820445,
+            30.692225819230426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1052.5354339928592,
+            1397.217140820445,
+            30.692225819230426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1052.5354339928592,
+            1400.217140820445,
+            30.692225819230426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1052.5354339928592,
+            1403.217140820445,
+            30.692225819230426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1052.5354339928592,
+            1406.217140820445,
+            30.692225819230426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1052.5354339928592,
+            1409.217140820445,
+            30.692225819230426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1052.5354339928592,
+            1412.217140820445,
+            30.692225819230426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1052.5354339928592,
+            1415.217140820445,
+            30.692225819230426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1052.5354339928592,
+            1418.217140820445,
+            30.692225819230426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1052.5354339928592,
+            1421.217140820445,
+            30.692225819230426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1052.5354339928592,
+            1424.217140820445,
+            30.692225819230426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1052.5354339928592,
+            1427.217140820445,
+            30.692225819230426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1052.5354339928592,
+            1430.217140820445,
+            30.692225819230426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1052.5354339928592,
+            1433.217140820445,
+            30.692225819230426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1052.5354339928592,
+            1436.217140820445,
+            30.692225819230426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1052.5354339928592,
+            1439.217140820445,
+            30.692225819230426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1052.5354339928592,
+            1442.217140820445,
+            30.692225819230426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1052.5354339928592,
+            1445.217140820445,
+            30.692225819230426
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1052.5354339928592,
+            1445.217140820445,
+            30.692225819230426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1054.0354339928592,
+            1447.8152170317983,
+            30.692225819230426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1055.5354339928592,
+            1450.4132932431517,
+            30.692225819230426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1057.0354339928592,
+            1453.011369454505,
+            30.692225819230426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1058.5354339928592,
+            1455.6094456658584,
+            30.692225819230426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1060.0354339928592,
+            1458.2075218772118,
+            30.692225819230426
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1060.0354339928592,
+            1458.2075218772118,
+            30.692225819230426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1062.6335102042126,
+            1459.7075218772118,
+            30.692225819230426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1065.231586415566,
+            1461.2075218772118,
+            30.692225819230426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1067.8296626269193,
+            1462.7075218772118,
+            30.692225819230426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1070.4277388382727,
+            1464.2075218772118,
+            30.692225819230426
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1073.025815049626,
+            1465.7075218772118,
+            30.692225819230426
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1073.025815049626,
+            1465.7075218772118,
+            27.692225819230426
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1073.025815049626,
+            1465.7075218772118,
+            24.692225819230426
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1073.025815049626,
+            1465.7075218772118,
+            21.692225819230426
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1073.025815049626,
+            1465.7075218772118,
+            18.692225819230426
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1073.025815049626,
+            1465.7075218772118,
+            15.692225819230426
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1073.025815049626,
+            1465.7075218772118,
+            12.692225819230426
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1073.025815049626,
+            1465.7075218772118,
+            9.692225819230426
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1073.025815049626,
+            1465.7075218772118,
+            6.692225819230426
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1073.025815049626,
+            1465.7075218772118,
+            3.6922258192304263
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            1073.025815049626,
+            1465.7075218772118,
+            0.6922258192304263
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "red",
+        "feature": "ornate facade",
+        "position": [
+            1079.64867,
+            1482.64594,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "left",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-27-57_1036140795/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-27-57_1036140795/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a538211ec1422017467f010c1044a2d71ff8aed1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-27-57_1036140795/pose.jsonl
@@ -0,0 +1,548 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1740.3091044633602,
+            492.06706088591886,
+            0.8520793363293535
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1740.3091044633602,
+            492.06706088591886,
+            3.8520793363293535
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1740.3091044633602,
+            492.06706088591886,
+            6.8520793363293535
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1740.3091044633602,
+            492.06706088591886,
+            9.852079336329354
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1740.3091044633602,
+            492.06706088591886,
+            12.852079336329354
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1740.3091044633602,
+            492.06706088591886,
+            15.852079336329354
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1740.3091044633602,
+            492.06706088591886,
+            18.852079336329354
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1740.3091044633602,
+            492.06706088591886,
+            21.852079336329354
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1740.3091044633602,
+            492.06706088591886,
+            24.852079336329354
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1740.3091044633602,
+            492.06706088591886,
+            27.852079336329354
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1740.3091044633602,
+            492.06706088591886,
+            30.852079336329354
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1740.3091044633602,
+            492.06706088591886,
+            33.85207933632935
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1740.3091044633602,
+            492.06706088591886,
+            36.85207933632935
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1740.3091044633602,
+            492.06706088591886,
+            39.85207933632935
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1740.3091044633602,
+            492.06706088591886,
+            42.85207933632935
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1740.3091044633602,
+            492.06706088591886,
+            45.85207933632935
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1740.3091044633602,
+            492.06706088591886,
+            48.85207933632935
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1740.3091044633602,
+            492.06706088591886,
+            51.85207933632935
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1740.3091044633602,
+            492.06706088591886,
+            54.85207933632935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1737.7110282520068,
+            493.56706088591886,
+            54.85207933632935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1735.1129520406535,
+            495.06706088591886,
+            54.85207933632935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1732.5148758293,
+            496.56706088591886,
+            54.85207933632935
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1729.9167996179467,
+            498.06706088591886,
+            54.85207933632935
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1729.9167996179467,
+            498.06706088591886,
+            51.85207933632935
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1729.9167996179467,
+            498.06706088591886,
+            48.85207933632935
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1729.9167996179467,
+            498.06706088591886,
+            45.85207933632935
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1729.9167996179467,
+            498.06706088591886,
+            42.85207933632935
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1729.9167996179467,
+            498.06706088591886,
+            39.85207933632935
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1729.9167996179467,
+            498.06706088591886,
+            36.85207933632935
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1729.9167996179467,
+            498.06706088591886,
+            33.85207933632935
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1729.9167996179467,
+            498.06706088591886,
+            30.852079336329354
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1729.9167996179467,
+            498.06706088591886,
+            27.852079336329354
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1729.9167996179467,
+            498.06706088591886,
+            24.852079336329354
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1729.9167996179467,
+            498.06706088591886,
+            21.852079336329354
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1729.9167996179467,
+            498.06706088591886,
+            18.852079336329354
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1729.9167996179467,
+            498.06706088591886,
+            15.852079336329354
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1729.9167996179467,
+            498.06706088591886,
+            12.852079336329354
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1729.9167996179467,
+            498.06706088591886,
+            9.852079336329354
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1729.9167996179467,
+            498.06706088591886,
+            6.8520793363293535
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1729.9167996179467,
+            498.06706088591886,
+            3.8520793363293535
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1729.9167996179467,
+            498.06706088591886,
+            0.8520793363293535
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "dark",
+        "feature": "grid-like facade",
+        "position": [
+            1661.305,
+            532.91875,
+            0.0
+        ],
+        "shape": "square",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-4-9_1918502651/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-4-9_1918502651/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f5c256ac992e36d4cea609fe314dee71d34963d2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-14_22-4-9_1918502651/pose.jsonl
@@ -0,0 +1,730 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            499.08623821006034,
+            1601.9631973123799,
+            1.0616149908504227
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            499.08623821006034,
+            1601.9631973123799,
+            4.061614990850423
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            499.08623821006034,
+            1601.9631973123799,
+            7.061614990850423
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            499.08623821006034,
+            1601.9631973123799,
+            10.061614990850423
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            499.08623821006034,
+            1601.9631973123799,
+            13.061614990850423
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            499.08623821006034,
+            1601.9631973123799,
+            16.061614990850423
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            499.08623821006034,
+            1601.9631973123799,
+            19.061614990850423
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            499.08623821006034,
+            1601.9631973123799,
+            22.061614990850423
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            499.08623821006034,
+            1601.9631973123799,
+            25.061614990850423
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            499.08623821006034,
+            1601.9631973123799,
+            28.061614990850423
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            499.08623821006034,
+            1601.9631973123799,
+            31.061614990850423
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            499.08623821006034,
+            1601.9631973123799,
+            34.06161499085042
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            499.08623821006034,
+            1601.9631973123799,
+            37.06161499085042
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            499.08623821006034,
+            1601.9631973123799,
+            40.06161499085042
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            499.08623821006034,
+            1601.9631973123799,
+            43.06161499085042
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            499.08623821006034,
+            1601.9631973123799,
+            46.06161499085042
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            499.08623821006034,
+            1601.9631973123799,
+            49.06161499085042
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            497.58623821006034,
+            1604.5612735237332,
+            49.06161499085042
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            496.08623821006034,
+            1607.1593497350866,
+            49.06161499085042
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            494.58623821006034,
+            1609.75742594644,
+            49.06161499085042
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            493.08623821006034,
+            1612.3555021577934,
+            49.06161499085042
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            493.08623821006034,
+            1612.3555021577934,
+            49.06161499085042
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            493.08623821006034,
+            1615.3555021577934,
+            49.06161499085042
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            493.08623821006034,
+            1618.3555021577934,
+            49.06161499085042
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            493.08623821006034,
+            1621.3555021577934,
+            49.06161499085042
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            493.08623821006034,
+            1624.3555021577934,
+            49.06161499085042
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            493.08623821006034,
+            1627.3555021577934,
+            49.06161499085042
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            493.08623821006034,
+            1627.3555021577934,
+            49.06161499085042
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            491.58623821006034,
+            1629.9535783691467,
+            49.06161499085042
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            490.08623821006034,
+            1632.5516545805,
+            49.06161499085042
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            488.58623821006034,
+            1635.1497307918535,
+            49.06161499085042
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            487.08623821006034,
+            1637.7478070032068,
+            49.06161499085042
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            485.58623821006034,
+            1640.3458832145602,
+            49.06161499085042
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            485.58623821006034,
+            1640.3458832145602,
+            49.06161499085042
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            482.988161998707,
+            1641.8458832145602,
+            49.06161499085042
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            480.3900857873537,
+            1643.3458832145602,
+            49.06161499085042
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            477.7920095760004,
+            1644.8458832145602,
+            49.06161499085042
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            475.1939333646471,
+            1646.3458832145602,
+            49.06161499085042
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            472.59585715329376,
+            1647.8458832145602,
+            49.06161499085042
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            472.59585715329376,
+            1647.8458832145602,
+            46.06161499085042
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            472.59585715329376,
+            1647.8458832145602,
+            43.06161499085042
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            472.59585715329376,
+            1647.8458832145602,
+            40.06161499085042
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            472.59585715329376,
+            1647.8458832145602,
+            37.06161499085042
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            472.59585715329376,
+            1647.8458832145602,
+            34.06161499085042
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            472.59585715329376,
+            1647.8458832145602,
+            31.061614990850423
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            472.59585715329376,
+            1647.8458832145602,
+            28.061614990850423
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            472.59585715329376,
+            1647.8458832145602,
+            25.061614990850423
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            472.59585715329376,
+            1647.8458832145602,
+            22.061614990850423
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            472.59585715329376,
+            1647.8458832145602,
+            19.061614990850423
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            472.59585715329376,
+            1647.8458832145602,
+            16.061614990850423
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            472.59585715329376,
+            1647.8458832145602,
+            13.061614990850423
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            472.59585715329376,
+            1647.8458832145602,
+            10.061614990850423
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            472.59585715329376,
+            1647.8458832145602,
+            7.061614990850423
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            472.59585715329376,
+            1647.8458832145602,
+            4.061614990850423
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            472.59585715329376,
+            1647.8458832145602,
+            1.0616149908504227
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "red",
+        "feature": "tall and narrow",
+        "position": [
+            460.85609,
+            1669.77062,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "right",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-3-11_1239036029/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-3-11_1239036029/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c5e7bae82860838eb8671789fee9598837f6c26b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-3-11_1239036029/pose.jsonl
@@ -0,0 +1,587 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            758.9875463326433,
+            350.46727778423667,
+            1.8220356462394989
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            758.9875463326433,
+            350.46727778423667,
+            4.822035646239499
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            758.9875463326433,
+            350.46727778423667,
+            7.822035646239499
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            758.9875463326433,
+            350.46727778423667,
+            10.822035646239499
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            758.9875463326433,
+            350.46727778423667,
+            13.822035646239499
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            758.9875463326433,
+            350.46727778423667,
+            16.8220356462395
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            758.9875463326433,
+            350.46727778423667,
+            19.8220356462395
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            758.9875463326433,
+            350.46727778423667,
+            22.8220356462395
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            758.9875463326433,
+            350.46727778423667,
+            25.8220356462395
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            758.9875463326433,
+            350.46727778423667,
+            28.8220356462395
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            758.9875463326433,
+            350.46727778423667,
+            31.8220356462395
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            758.9875463326433,
+            350.46727778423667,
+            34.8220356462395
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            758.9875463326433,
+            350.46727778423667,
+            37.8220356462395
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            758.9875463326433,
+            350.46727778423667,
+            40.8220356462395
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            758.9875463326433,
+            350.46727778423667,
+            43.8220356462395
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            758.9875463326433,
+            350.46727778423667,
+            46.8220356462395
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            758.9875463326433,
+            350.46727778423667,
+            49.8220356462395
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            758.9875463326433,
+            350.46727778423667,
+            52.8220356462395
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            758.9875463326433,
+            350.46727778423667,
+            55.8220356462395
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            758.9875463326433,
+            350.46727778423667,
+            58.8220356462395
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            757.4875463326433,
+            353.06535399559,
+            58.8220356462395
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            755.9875463326433,
+            355.6634302069433,
+            58.8220356462395
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            754.4875463326433,
+            358.2615064182966,
+            58.8220356462395
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            752.9875463326433,
+            360.85958262964994,
+            58.8220356462395
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            751.4875463326433,
+            363.45765884100325,
+            58.8220356462395
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            751.4875463326433,
+            363.45765884100325,
+            55.8220356462395
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            751.4875463326433,
+            363.45765884100325,
+            52.8220356462395
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            751.4875463326433,
+            363.45765884100325,
+            49.8220356462395
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            751.4875463326433,
+            363.45765884100325,
+            46.8220356462395
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            751.4875463326433,
+            363.45765884100325,
+            43.8220356462395
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            751.4875463326433,
+            363.45765884100325,
+            40.8220356462395
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            751.4875463326433,
+            363.45765884100325,
+            37.8220356462395
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            751.4875463326433,
+            363.45765884100325,
+            34.8220356462395
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            751.4875463326433,
+            363.45765884100325,
+            31.8220356462395
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            751.4875463326433,
+            363.45765884100325,
+            28.8220356462395
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            751.4875463326433,
+            363.45765884100325,
+            25.8220356462395
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            751.4875463326433,
+            363.45765884100325,
+            22.8220356462395
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            751.4875463326433,
+            363.45765884100325,
+            19.8220356462395
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            751.4875463326433,
+            363.45765884100325,
+            16.8220356462395
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            751.4875463326433,
+            363.45765884100325,
+            13.822035646239499
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            751.4875463326433,
+            363.45765884100325,
+            10.822035646239499
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            751.4875463326433,
+            363.45765884100325,
+            7.822035646239499
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            751.4875463326433,
+            363.45765884100325,
+            4.822035646239499
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            751.4875463326433,
+            363.45765884100325,
+            1.8220356462394989
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "arched windows",
+        "position": [
+            700.5789100000001,
+            422.12641,
+            6.2
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-47-55_706043324/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-47-55_706043324/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ac92917c36960e1ad82028fa705ee4300418e9e4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_1-47-55_706043324/pose.jsonl
@@ -0,0 +1,522 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            792.3984969033064,
+            646.7143232940239,
+            1.1098829256214202
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            792.3984969033064,
+            646.7143232940239,
+            4.10988292562142
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            792.3984969033064,
+            646.7143232940239,
+            7.10988292562142
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            792.3984969033064,
+            646.7143232940239,
+            10.10988292562142
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            792.3984969033064,
+            646.7143232940239,
+            13.10988292562142
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            792.3984969033064,
+            646.7143232940239,
+            16.10988292562142
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            792.3984969033064,
+            646.7143232940239,
+            19.10988292562142
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            792.3984969033064,
+            646.7143232940239,
+            22.10988292562142
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            792.3984969033064,
+            646.7143232940239,
+            25.10988292562142
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            792.3984969033064,
+            646.7143232940239,
+            28.10988292562142
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            792.3984969033064,
+            646.7143232940239,
+            31.10988292562142
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            792.3984969033064,
+            646.7143232940239,
+            34.10988292562142
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            792.3984969033064,
+            646.7143232940239,
+            37.10988292562142
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            792.3984969033064,
+            646.7143232940239,
+            40.10988292562142
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            789.3984969033064,
+            646.7143232940239,
+            40.10988292562142
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            786.3984969033064,
+            646.7143232940239,
+            40.10988292562142
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            783.3984969033064,
+            646.7143232940239,
+            40.10988292562142
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            780.3984969033064,
+            646.7143232940239,
+            40.10988292562142
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            777.3984969033064,
+            646.7143232940239,
+            40.10988292562142
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            774.3984969033064,
+            646.7143232940239,
+            40.10988292562142
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            771.3984969033064,
+            646.7143232940239,
+            40.10988292562142
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            768.3984969033064,
+            646.7143232940239,
+            40.10988292562142
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            765.3984969033064,
+            646.7143232940239,
+            40.10988292562142
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            762.3984969033064,
+            646.7143232940239,
+            40.10988292562142
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            759.3984969033064,
+            646.7143232940239,
+            40.10988292562142
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            756.3984969033064,
+            646.7143232940239,
+            40.10988292562142
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            756.3984969033064,
+            646.7143232940239,
+            37.10988292562142
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            756.3984969033064,
+            646.7143232940239,
+            34.10988292562142
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            756.3984969033064,
+            646.7143232940239,
+            31.10988292562142
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            756.3984969033064,
+            646.7143232940239,
+            28.10988292562142
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            756.3984969033064,
+            646.7143232940239,
+            25.10988292562142
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            756.3984969033064,
+            646.7143232940239,
+            22.10988292562142
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            756.3984969033064,
+            646.7143232940239,
+            19.10988292562142
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            756.3984969033064,
+            646.7143232940239,
+            16.10988292562142
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            756.3984969033064,
+            646.7143232940239,
+            13.10988292562142
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            756.3984969033064,
+            646.7143232940239,
+            10.10988292562142
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            756.3984969033064,
+            646.7143232940239,
+            7.10988292562142
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            756.3984969033064,
+            646.7143232940239,
+            4.10988292562142
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            756.3984969033064,
+            646.7143232940239,
+            1.1098829256214202
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "classical architectural elements",
+        "position": [
+            717.57383,
+            652.60789,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_10-13-27_1665204916/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_10-13-27_1665204916/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..27bd2608e0e20795d3dfd0be041c63c6dab238a2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_10-13-27_1665204916/pose.jsonl
@@ -0,0 +1,431 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1427.8084876683974,
+            -153.20323303395136,
+            2.150167316273155
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1427.8084876683974,
+            -153.20323303395136,
+            5.150167316273155
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1427.8084876683974,
+            -153.20323303395136,
+            8.150167316273155
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1427.8084876683974,
+            -153.20323303395136,
+            11.150167316273155
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1427.8084876683974,
+            -153.20323303395136,
+            14.150167316273155
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1427.8084876683974,
+            -153.20323303395136,
+            17.150167316273155
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1427.8084876683974,
+            -153.20323303395136,
+            20.150167316273155
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1427.8084876683974,
+            -153.20323303395136,
+            23.150167316273155
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1427.8084876683974,
+            -153.20323303395136,
+            26.150167316273155
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1427.8084876683974,
+            -153.20323303395136,
+            29.150167316273155
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1427.8084876683974,
+            -153.20323303395136,
+            32.150167316273155
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1427.8084876683974,
+            -153.20323303395136,
+            35.150167316273155
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1427.8084876683974,
+            -153.20323303395136,
+            38.150167316273155
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1427.8084876683974,
+            -153.20323303395136,
+            41.150167316273155
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1427.8084876683974,
+            -153.20323303395136,
+            44.150167316273155
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1426.3084876683974,
+            -155.80130924530468,
+            44.150167316273155
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1424.8084876683974,
+            -158.399385456658,
+            44.150167316273155
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1423.3084876683974,
+            -160.9974616680113,
+            44.150167316273155
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1423.3084876683974,
+            -160.9974616680113,
+            41.150167316273155
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1423.3084876683974,
+            -160.9974616680113,
+            38.150167316273155
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1423.3084876683974,
+            -160.9974616680113,
+            35.150167316273155
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1423.3084876683974,
+            -160.9974616680113,
+            32.150167316273155
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1423.3084876683974,
+            -160.9974616680113,
+            29.150167316273155
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1423.3084876683974,
+            -160.9974616680113,
+            26.150167316273155
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1423.3084876683974,
+            -160.9974616680113,
+            23.150167316273155
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1423.3084876683974,
+            -160.9974616680113,
+            20.150167316273155
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1423.3084876683974,
+            -160.9974616680113,
+            17.150167316273155
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1423.3084876683974,
+            -160.9974616680113,
+            14.150167316273155
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1423.3084876683974,
+            -160.9974616680113,
+            11.150167316273155
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1423.3084876683974,
+            -160.9974616680113,
+            8.150167316273155
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1423.3084876683974,
+            -160.9974616680113,
+            5.150167316273155
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1423.3084876683974,
+            -160.9974616680113,
+            2.150167316273155
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "glass windows",
+        "position": [
+            1371.87016,
+            -209.29488,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_10-16-18_564325578/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_10-16-18_564325578/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..db066babd743ffb2828ddca479f15beaede9346c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_10-16-18_564325578/pose.jsonl
@@ -0,0 +1,457 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1361.551875561178,
+            -347.0318655999748,
+            1.0054908893482235
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1361.551875561178,
+            -347.0318655999748,
+            4.0054908893482235
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1361.551875561178,
+            -347.0318655999748,
+            7.0054908893482235
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1361.551875561178,
+            -347.0318655999748,
+            10.005490889348224
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1361.551875561178,
+            -347.0318655999748,
+            13.005490889348224
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1361.551875561178,
+            -347.0318655999748,
+            16.005490889348224
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1361.551875561178,
+            -347.0318655999748,
+            19.005490889348224
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1361.551875561178,
+            -347.0318655999748,
+            22.005490889348224
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1361.551875561178,
+            -347.0318655999748,
+            25.005490889348224
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1361.551875561178,
+            -347.0318655999748,
+            28.005490889348224
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1361.551875561178,
+            -347.0318655999748,
+            31.005490889348224
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1361.551875561178,
+            -347.0318655999748,
+            34.00549088934822
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1361.551875561178,
+            -347.0318655999748,
+            37.00549088934822
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1361.551875561178,
+            -347.0318655999748,
+            40.00549088934822
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1361.551875561178,
+            -347.0318655999748,
+            43.00549088934822
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1364.551875561178,
+            -347.0318655999748,
+            43.00549088934822
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1364.551875561178,
+            -347.0318655999748,
+            43.00549088934822
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1364.551875561178,
+            -347.0318655999748,
+            43.00549088934822
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1366.051875561178,
+            -344.4337893886215,
+            43.00549088934822
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1367.551875561178,
+            -341.8357131772682,
+            43.00549088934822
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1367.551875561178,
+            -341.8357131772682,
+            40.00549088934822
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1367.551875561178,
+            -341.8357131772682,
+            37.00549088934822
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1367.551875561178,
+            -341.8357131772682,
+            34.00549088934822
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1367.551875561178,
+            -341.8357131772682,
+            31.005490889348224
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1367.551875561178,
+            -341.8357131772682,
+            28.005490889348224
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1367.551875561178,
+            -341.8357131772682,
+            25.005490889348224
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1367.551875561178,
+            -341.8357131772682,
+            22.005490889348224
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1367.551875561178,
+            -341.8357131772682,
+            19.005490889348224
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1367.551875561178,
+            -341.8357131772682,
+            16.005490889348224
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1367.551875561178,
+            -341.8357131772682,
+            13.005490889348224
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1367.551875561178,
+            -341.8357131772682,
+            10.005490889348224
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1367.551875561178,
+            -341.8357131772682,
+            7.0054908893482235
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1367.551875561178,
+            -341.8357131772682,
+            4.0054908893482235
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1367.551875561178,
+            -341.8357131772682,
+            1.0054908893482235
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "glass facade",
+        "position": [
+            1435.20828,
+            -299.9342,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "right",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_10-18-49_1010528946/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_10-18-49_1010528946/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..474cbaa80cc4f2b0180e4ecd2f8524fee9f71bee
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_10-18-49_1010528946/pose.jsonl
@@ -0,0 +1,405 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1591.3316695287697,
+            868.724525810669,
+            2.5937100508135558
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1591.3316695287697,
+            868.724525810669,
+            5.593710050813556
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1591.3316695287697,
+            868.724525810669,
+            8.593710050813556
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1591.3316695287697,
+            868.724525810669,
+            11.593710050813556
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1591.3316695287697,
+            868.724525810669,
+            14.593710050813556
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1591.3316695287697,
+            868.724525810669,
+            17.593710050813556
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1591.3316695287697,
+            868.724525810669,
+            20.593710050813556
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1591.3316695287697,
+            868.724525810669,
+            23.593710050813556
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1591.3316695287697,
+            868.724525810669,
+            26.593710050813556
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1591.3316695287697,
+            868.724525810669,
+            29.593710050813556
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1591.3316695287697,
+            868.724525810669,
+            32.593710050813556
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1591.3316695287697,
+            865.724525810669,
+            32.593710050813556
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1591.3316695287697,
+            862.724525810669,
+            32.593710050813556
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1591.3316695287697,
+            859.724525810669,
+            32.593710050813556
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1591.3316695287697,
+            856.724525810669,
+            32.593710050813556
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1591.3316695287697,
+            853.724525810669,
+            32.593710050813556
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1591.3316695287697,
+            853.724525810669,
+            32.593710050813556
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1589.8316695287697,
+            851.1264495993157,
+            32.593710050813556
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1588.3316695287697,
+            848.5283733879623,
+            32.593710050813556
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1586.8316695287697,
+            845.930297176609,
+            32.593710050813556
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1586.8316695287697,
+            845.930297176609,
+            29.593710050813556
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1586.8316695287697,
+            845.930297176609,
+            26.593710050813556
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1586.8316695287697,
+            845.930297176609,
+            23.593710050813556
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1586.8316695287697,
+            845.930297176609,
+            20.593710050813556
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1586.8316695287697,
+            845.930297176609,
+            17.593710050813556
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1586.8316695287697,
+            845.930297176609,
+            14.593710050813556
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1586.8316695287697,
+            845.930297176609,
+            11.593710050813556
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1586.8316695287697,
+            845.930297176609,
+            8.593710050813556
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1586.8316695287697,
+            845.930297176609,
+            5.593710050813556
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1586.8316695287697,
+            845.930297176609,
+            2.5937100508135558
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "grid-like window pattern",
+        "position": [
+            -1578.86734,
+            787.5391400000001,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_10-22-38_1857756970/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_10-22-38_1857756970/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3bc23ff19d88014b6a1d9e85b147e3f6c24a9fe1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_10-22-38_1857756970/pose.jsonl
@@ -0,0 +1,535 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            701.308850952911,
+            -288.02886585731824,
+            1.5088432399641363
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            701.308850952911,
+            -288.02886585731824,
+            4.508843239964136
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            701.308850952911,
+            -288.02886585731824,
+            7.508843239964136
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            701.308850952911,
+            -288.02886585731824,
+            10.508843239964136
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            701.308850952911,
+            -288.02886585731824,
+            13.508843239964136
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            701.308850952911,
+            -288.02886585731824,
+            16.508843239964136
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            701.308850952911,
+            -288.02886585731824,
+            19.508843239964136
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            701.308850952911,
+            -288.02886585731824,
+            22.508843239964136
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            701.308850952911,
+            -288.02886585731824,
+            25.508843239964136
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            701.308850952911,
+            -288.02886585731824,
+            28.508843239964136
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            701.308850952911,
+            -288.02886585731824,
+            31.508843239964136
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            701.308850952911,
+            -288.02886585731824,
+            34.508843239964136
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            701.308850952911,
+            -288.02886585731824,
+            37.508843239964136
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            701.308850952911,
+            -288.02886585731824,
+            40.508843239964136
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            701.308850952911,
+            -288.02886585731824,
+            43.508843239964136
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            701.308850952911,
+            -288.02886585731824,
+            46.508843239964136
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            701.308850952911,
+            -288.02886585731824,
+            49.508843239964136
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            701.308850952911,
+            -288.02886585731824,
+            52.508843239964136
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            701.308850952911,
+            -288.02886585731824,
+            55.508843239964136
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            699.808850952911,
+            -285.4307896459649,
+            55.508843239964136
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            698.308850952911,
+            -282.8327134346116,
+            55.508843239964136
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            696.808850952911,
+            -280.2346372232583,
+            55.508843239964136
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            696.808850952911,
+            -280.2346372232583,
+            52.508843239964136
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            696.808850952911,
+            -280.2346372232583,
+            49.508843239964136
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            696.808850952911,
+            -280.2346372232583,
+            46.508843239964136
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            696.808850952911,
+            -280.2346372232583,
+            43.508843239964136
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            696.808850952911,
+            -280.2346372232583,
+            40.508843239964136
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            696.808850952911,
+            -280.2346372232583,
+            37.508843239964136
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            696.808850952911,
+            -280.2346372232583,
+            34.508843239964136
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            696.808850952911,
+            -280.2346372232583,
+            31.508843239964136
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            696.808850952911,
+            -280.2346372232583,
+            28.508843239964136
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            696.808850952911,
+            -280.2346372232583,
+            25.508843239964136
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            696.808850952911,
+            -280.2346372232583,
+            22.508843239964136
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            696.808850952911,
+            -280.2346372232583,
+            19.508843239964136
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            696.808850952911,
+            -280.2346372232583,
+            16.508843239964136
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            696.808850952911,
+            -280.2346372232583,
+            13.508843239964136
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            696.808850952911,
+            -280.2346372232583,
+            10.508843239964136
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            696.808850952911,
+            -280.2346372232583,
+            7.508843239964136
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            696.808850952911,
+            -280.2346372232583,
+            4.508843239964136
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            696.808850952911,
+            -280.2346372232583,
+            1.5088432399641363
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "dark",
+        "feature": "grid-like facade",
+        "position": [
+            654.69008,
+            -214.55131,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_10-26-56_885799631/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_10-26-56_885799631/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..911814b9ebc4949f7c339ef8b346de81e20ebf54
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_10-26-56_885799631/pose.jsonl
@@ -0,0 +1,444 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1045.3271951677996,
+            1459.3501778656714,
+            1.4217466541734538
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1045.3271951677996,
+            1459.3501778656714,
+            4.421746654173454
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1045.3271951677996,
+            1459.3501778656714,
+            7.421746654173454
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1045.3271951677996,
+            1459.3501778656714,
+            10.421746654173454
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1045.3271951677996,
+            1459.3501778656714,
+            13.421746654173454
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1045.3271951677996,
+            1459.3501778656714,
+            16.421746654173454
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1045.3271951677996,
+            1459.3501778656714,
+            19.421746654173454
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1045.3271951677996,
+            1459.3501778656714,
+            22.421746654173454
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1045.3271951677996,
+            1459.3501778656714,
+            25.421746654173454
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1045.3271951677996,
+            1459.3501778656714,
+            28.421746654173454
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1045.3271951677996,
+            1459.3501778656714,
+            31.421746654173454
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1045.3271951677996,
+            1459.3501778656714,
+            34.421746654173454
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1045.3271951677996,
+            1459.3501778656714,
+            37.421746654173454
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1045.3271951677996,
+            1459.3501778656714,
+            40.421746654173454
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1046.8271951677996,
+            1461.9482540770248,
+            40.421746654173454
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1048.3271951677996,
+            1464.5463302883782,
+            40.421746654173454
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1049.8271951677996,
+            1467.1444064997315,
+            40.421746654173454
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1051.3271951677996,
+            1469.742482711085,
+            40.421746654173454
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1052.8271951677996,
+            1472.3405589224383,
+            40.421746654173454
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1054.3271951677996,
+            1474.9386351337916,
+            40.421746654173454
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1054.3271951677996,
+            1474.9386351337916,
+            37.421746654173454
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1054.3271951677996,
+            1474.9386351337916,
+            34.421746654173454
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1054.3271951677996,
+            1474.9386351337916,
+            31.421746654173454
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1054.3271951677996,
+            1474.9386351337916,
+            28.421746654173454
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1054.3271951677996,
+            1474.9386351337916,
+            25.421746654173454
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1054.3271951677996,
+            1474.9386351337916,
+            22.421746654173454
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1054.3271951677996,
+            1474.9386351337916,
+            19.421746654173454
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1054.3271951677996,
+            1474.9386351337916,
+            16.421746654173454
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1054.3271951677996,
+            1474.9386351337916,
+            13.421746654173454
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1054.3271951677996,
+            1474.9386351337916,
+            10.421746654173454
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1054.3271951677996,
+            1474.9386351337916,
+            7.421746654173454
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1054.3271951677996,
+            1474.9386351337916,
+            4.421746654173454
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1054.3271951677996,
+            1474.9386351337916,
+            1.4217466541734538
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "arched windows",
+        "position": [
+            1079.2951600000001,
+            1512.02688,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_10-4-34_2009726312/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_10-4-34_2009726312/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..843137c41e051b5ec308963720faee3f207b94ca
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_10-4-34_2009726312/pose.jsonl
@@ -0,0 +1,405 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1756.5895556892483,
+            260.8684326090749,
+            2.877970982569707
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1756.5895556892483,
+            260.8684326090749,
+            5.877970982569707
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1756.5895556892483,
+            260.8684326090749,
+            8.877970982569707
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1756.5895556892483,
+            260.8684326090749,
+            11.877970982569707
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1756.5895556892483,
+            260.8684326090749,
+            14.877970982569707
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1756.5895556892483,
+            260.8684326090749,
+            17.877970982569707
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1756.5895556892483,
+            260.8684326090749,
+            20.877970982569707
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1756.5895556892483,
+            260.8684326090749,
+            23.877970982569707
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1756.5895556892483,
+            260.8684326090749,
+            26.877970982569707
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1756.5895556892483,
+            260.8684326090749,
+            29.877970982569707
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1756.5895556892483,
+            260.8684326090749,
+            32.87797098256971
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1756.5895556892483,
+            260.8684326090749,
+            35.87797098256971
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1756.5895556892483,
+            260.8684326090749,
+            38.87797098256971
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1756.5895556892483,
+            260.8684326090749,
+            41.87797098256971
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1753.991479477895,
+            262.3684326090749,
+            41.87797098256971
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1751.3934032665416,
+            263.8684326090749,
+            41.87797098256971
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1748.7953270551882,
+            265.3684326090749,
+            41.87797098256971
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1748.7953270551882,
+            265.3684326090749,
+            38.87797098256971
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1748.7953270551882,
+            265.3684326090749,
+            35.87797098256971
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1748.7953270551882,
+            265.3684326090749,
+            32.87797098256971
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1748.7953270551882,
+            265.3684326090749,
+            29.877970982569707
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1748.7953270551882,
+            265.3684326090749,
+            26.877970982569707
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1748.7953270551882,
+            265.3684326090749,
+            23.877970982569707
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1748.7953270551882,
+            265.3684326090749,
+            20.877970982569707
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1748.7953270551882,
+            265.3684326090749,
+            17.877970982569707
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1748.7953270551882,
+            265.3684326090749,
+            14.877970982569707
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1748.7953270551882,
+            265.3684326090749,
+            11.877970982569707
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1748.7953270551882,
+            265.3684326090749,
+            8.877970982569707
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1748.7953270551882,
+            265.3684326090749,
+            5.877970982569707
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1748.7953270551882,
+            265.3684326090749,
+            2.877970982569707
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "large windows",
+        "position": [
+            1709.12688,
+            301.71334,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_11-37-14_2045826607/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_11-37-14_2045826607/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e408464905de8a1126633a1bc0768189aead0669
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_11-37-14_2045826607/pose.jsonl
@@ -0,0 +1,587 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1917.0874567544236,
+            1041.64107991721,
+            1.9110702654611487
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1917.0874567544236,
+            1041.64107991721,
+            4.911070265461149
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1917.0874567544236,
+            1041.64107991721,
+            7.911070265461149
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1917.0874567544236,
+            1041.64107991721,
+            10.911070265461149
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1917.0874567544236,
+            1041.64107991721,
+            13.911070265461149
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1917.0874567544236,
+            1041.64107991721,
+            16.91107026546115
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1917.0874567544236,
+            1041.64107991721,
+            19.91107026546115
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1917.0874567544236,
+            1041.64107991721,
+            22.91107026546115
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1917.0874567544236,
+            1041.64107991721,
+            25.91107026546115
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1917.0874567544236,
+            1041.64107991721,
+            28.91107026546115
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1917.0874567544236,
+            1041.64107991721,
+            31.91107026546115
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1914.4893805430702,
+            1043.14107991721,
+            31.91107026546115
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1911.8913043317168,
+            1044.64107991721,
+            31.91107026546115
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1909.2932281203634,
+            1046.14107991721,
+            31.91107026546115
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1906.69515190901,
+            1047.64107991721,
+            31.91107026546115
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1904.0970756976567,
+            1049.14107991721,
+            31.91107026546115
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1901.4989994863033,
+            1050.64107991721,
+            31.91107026546115
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1898.90092327495,
+            1052.14107991721,
+            31.91107026546115
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1896.3028470635966,
+            1053.64107991721,
+            31.91107026546115
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1893.7047708522432,
+            1055.14107991721,
+            31.91107026546115
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1891.1066946408898,
+            1056.64107991721,
+            31.91107026546115
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1888.5086184295365,
+            1058.14107991721,
+            31.91107026546115
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1888.5086184295365,
+            1058.14107991721,
+            31.91107026546115
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1887.0086184295365,
+            1060.7391561285633,
+            31.91107026546115
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1885.5086184295365,
+            1063.3372323399167,
+            31.91107026546115
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1884.0086184295365,
+            1065.93530855127,
+            31.91107026546115
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1882.5086184295365,
+            1068.5333847626234,
+            31.91107026546115
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1881.0086184295365,
+            1071.1314609739768,
+            31.91107026546115
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1879.5086184295365,
+            1073.7295371853302,
+            31.91107026546115
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1878.0086184295365,
+            1076.3276133966835,
+            31.91107026546115
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1876.5086184295365,
+            1078.925689608037,
+            31.91107026546115
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1876.5086184295365,
+            1078.925689608037,
+            31.91107026546115
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1873.910542218183,
+            1080.425689608037,
+            31.91107026546115
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1871.3124660068297,
+            1081.925689608037,
+            31.91107026546115
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1871.3124660068297,
+            1081.925689608037,
+            28.91107026546115
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1871.3124660068297,
+            1081.925689608037,
+            25.91107026546115
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1871.3124660068297,
+            1081.925689608037,
+            22.91107026546115
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1871.3124660068297,
+            1081.925689608037,
+            19.91107026546115
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1871.3124660068297,
+            1081.925689608037,
+            16.91107026546115
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1871.3124660068297,
+            1081.925689608037,
+            13.911070265461149
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1871.3124660068297,
+            1081.925689608037,
+            10.911070265461149
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1871.3124660068297,
+            1081.925689608037,
+            7.911070265461149
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1871.3124660068297,
+            1081.925689608037,
+            4.911070265461149
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1871.3124660068297,
+            1081.925689608037,
+            1.9110702654611487
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "ornate detailing",
+        "position": [
+            1846.52688,
+            1105.37203,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-32-15_1250372661/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-32-15_1250372661/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..41853ac09d4c8b75ff40a57fdd211ed35352c285
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_15-32-15_1250372661/pose.jsonl
@@ -0,0 +1,366 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1993.1525028553515,
+            1740.010482097806,
+            0.6296493903518297
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1993.1525028553515,
+            1740.010482097806,
+            3.6296493903518297
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1993.1525028553515,
+            1740.010482097806,
+            6.62964939035183
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1993.1525028553515,
+            1740.010482097806,
+            9.62964939035183
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1993.1525028553515,
+            1740.010482097806,
+            12.62964939035183
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1993.1525028553515,
+            1740.010482097806,
+            15.62964939035183
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1993.1525028553515,
+            1740.010482097806,
+            18.62964939035183
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1993.1525028553515,
+            1740.010482097806,
+            21.62964939035183
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1993.1525028553515,
+            1740.010482097806,
+            24.62964939035183
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1993.1525028553515,
+            1740.010482097806,
+            27.62964939035183
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1993.1525028553515,
+            1740.010482097806,
+            30.62964939035183
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1993.1525028553515,
+            1740.010482097806,
+            33.62964939035183
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1993.1525028553515,
+            1740.010482097806,
+            36.62964939035183
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1995.7505790667049,
+            1738.510482097806,
+            36.62964939035183
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1998.3486552780582,
+            1737.010482097806,
+            36.62964939035183
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1998.3486552780582,
+            1737.010482097806,
+            33.62964939035183
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1998.3486552780582,
+            1737.010482097806,
+            30.62964939035183
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1998.3486552780582,
+            1737.010482097806,
+            27.62964939035183
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1998.3486552780582,
+            1737.010482097806,
+            24.62964939035183
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1998.3486552780582,
+            1737.010482097806,
+            21.62964939035183
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1998.3486552780582,
+            1737.010482097806,
+            18.62964939035183
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1998.3486552780582,
+            1737.010482097806,
+            15.62964939035183
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1998.3486552780582,
+            1737.010482097806,
+            12.62964939035183
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1998.3486552780582,
+            1737.010482097806,
+            9.62964939035183
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1998.3486552780582,
+            1737.010482097806,
+            6.62964939035183
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1998.3486552780582,
+            1737.010482097806,
+            3.6296493903518297
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1998.3486552780582,
+            1737.010482097806,
+            0.6296493903518297
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "beige",
+        "feature": "ornate detailing",
+        "position": [
+            -2061.82562,
+            1708.11297,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_17-20-32_1022089159/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_17-20-32_1022089159/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..98af333aae9ef28f4ac3c090d714f73958f90858
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_17-20-32_1022089159/pose.jsonl
@@ -0,0 +1,626 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -932.3991511017033,
+            1084.3054621085773,
+            2.187269608919408
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -932.3991511017033,
+            1084.3054621085773,
+            5.187269608919408
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -932.3991511017033,
+            1084.3054621085773,
+            8.187269608919408
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -932.3991511017033,
+            1084.3054621085773,
+            11.187269608919408
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -932.3991511017033,
+            1084.3054621085773,
+            14.187269608919408
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -932.3991511017033,
+            1084.3054621085773,
+            17.187269608919408
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -932.3991511017033,
+            1084.3054621085773,
+            20.187269608919408
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -932.3991511017033,
+            1084.3054621085773,
+            23.187269608919408
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -932.3991511017033,
+            1084.3054621085773,
+            26.187269608919408
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -932.3991511017033,
+            1084.3054621085773,
+            29.187269608919408
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -932.3991511017033,
+            1084.3054621085773,
+            32.18726960891941
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -932.3991511017033,
+            1084.3054621085773,
+            35.18726960891941
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -932.3991511017033,
+            1084.3054621085773,
+            38.18726960891941
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -932.3991511017033,
+            1084.3054621085773,
+            41.18726960891941
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -932.3991511017033,
+            1084.3054621085773,
+            44.18726960891941
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -932.3991511017033,
+            1084.3054621085773,
+            47.18726960891941
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -932.3991511017033,
+            1084.3054621085773,
+            50.18726960891941
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -932.3991511017033,
+            1084.3054621085773,
+            53.18726960891941
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -932.3991511017033,
+            1084.3054621085773,
+            56.18726960891941
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -932.3991511017033,
+            1084.3054621085773,
+            59.18726960891941
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -932.3991511017033,
+            1081.3054621085773,
+            59.18726960891941
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -932.3991511017033,
+            1078.3054621085773,
+            59.18726960891941
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -932.3991511017033,
+            1075.3054621085773,
+            59.18726960891941
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -932.3991511017033,
+            1072.3054621085773,
+            59.18726960891941
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -932.3991511017033,
+            1069.3054621085773,
+            59.18726960891941
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -932.3991511017033,
+            1069.3054621085773,
+            59.18726960891941
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -933.8991511017033,
+            1066.707385897224,
+            59.18726960891941
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -935.3991511017033,
+            1064.1093096858706,
+            59.18726960891941
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -935.3991511017033,
+            1064.1093096858706,
+            56.18726960891941
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -935.3991511017033,
+            1064.1093096858706,
+            53.18726960891941
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -935.3991511017033,
+            1064.1093096858706,
+            50.18726960891941
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -935.3991511017033,
+            1064.1093096858706,
+            47.18726960891941
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -935.3991511017033,
+            1064.1093096858706,
+            44.18726960891941
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -935.3991511017033,
+            1064.1093096858706,
+            41.18726960891941
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -935.3991511017033,
+            1064.1093096858706,
+            38.18726960891941
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -935.3991511017033,
+            1064.1093096858706,
+            35.18726960891941
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -935.3991511017033,
+            1064.1093096858706,
+            32.18726960891941
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -935.3991511017033,
+            1064.1093096858706,
+            29.187269608919408
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -935.3991511017033,
+            1064.1093096858706,
+            26.187269608919408
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -935.3991511017033,
+            1064.1093096858706,
+            23.187269608919408
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -935.3991511017033,
+            1064.1093096858706,
+            20.187269608919408
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -935.3991511017033,
+            1064.1093096858706,
+            17.187269608919408
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -935.3991511017033,
+            1064.1093096858706,
+            14.187269608919408
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -935.3991511017033,
+            1064.1093096858706,
+            11.187269608919408
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -935.3991511017033,
+            1064.1093096858706,
+            8.187269608919408
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -935.3991511017033,
+            1064.1093096858706,
+            5.187269608919408
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -935.3991511017033,
+            1064.1093096858706,
+            2.187269608919408
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "red",
+        "feature": "ornate facade",
+        "position": [
+            -945.56484,
+            997.2371099999999,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_18-7-24_695748720/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_18-7-24_695748720/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c1e83dae8fa7be57c1b8acde027da9cf836c5eb7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_18-7-24_695748720/pose.jsonl
@@ -0,0 +1,535 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            395.0760768873926,
+            1219.855064134735,
+            1.0461750516576416
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            395.0760768873926,
+            1219.855064134735,
+            4.046175051657642
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            395.0760768873926,
+            1219.855064134735,
+            7.046175051657642
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            395.0760768873926,
+            1219.855064134735,
+            10.046175051657642
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            395.0760768873926,
+            1219.855064134735,
+            13.046175051657642
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            395.0760768873926,
+            1219.855064134735,
+            16.04617505165764
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            395.0760768873926,
+            1219.855064134735,
+            19.04617505165764
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            395.0760768873926,
+            1219.855064134735,
+            22.04617505165764
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            395.0760768873926,
+            1219.855064134735,
+            25.04617505165764
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            395.0760768873926,
+            1219.855064134735,
+            28.04617505165764
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            395.0760768873926,
+            1219.855064134735,
+            31.04617505165764
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            395.0760768873926,
+            1219.855064134735,
+            34.04617505165764
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            395.0760768873926,
+            1219.855064134735,
+            37.04617505165764
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            395.0760768873926,
+            1216.855064134735,
+            37.04617505165764
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            395.0760768873926,
+            1213.855064134735,
+            37.04617505165764
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            395.0760768873926,
+            1210.855064134735,
+            37.04617505165764
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            395.0760768873926,
+            1207.855064134735,
+            37.04617505165764
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            395.0760768873926,
+            1204.855064134735,
+            37.04617505165764
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            395.0760768873926,
+            1201.855064134735,
+            37.04617505165764
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            395.0760768873926,
+            1198.855064134735,
+            37.04617505165764
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            395.0760768873926,
+            1195.855064134735,
+            37.04617505165764
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            395.0760768873926,
+            1192.855064134735,
+            37.04617505165764
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            395.0760768873926,
+            1189.855064134735,
+            37.04617505165764
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            395.0760768873926,
+            1186.855064134735,
+            37.04617505165764
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            395.0760768873926,
+            1186.855064134735,
+            37.04617505165764
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            393.5760768873926,
+            1184.2569879233815,
+            37.04617505165764
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            392.0760768873926,
+            1181.6589117120282,
+            37.04617505165764
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            390.5760768873926,
+            1179.0608355006748,
+            37.04617505165764
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            390.5760768873926,
+            1179.0608355006748,
+            34.04617505165764
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            390.5760768873926,
+            1179.0608355006748,
+            31.04617505165764
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            390.5760768873926,
+            1179.0608355006748,
+            28.04617505165764
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            390.5760768873926,
+            1179.0608355006748,
+            25.04617505165764
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            390.5760768873926,
+            1179.0608355006748,
+            22.04617505165764
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            390.5760768873926,
+            1179.0608355006748,
+            19.04617505165764
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            390.5760768873926,
+            1179.0608355006748,
+            16.04617505165764
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            390.5760768873926,
+            1179.0608355006748,
+            13.046175051657642
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            390.5760768873926,
+            1179.0608355006748,
+            10.046175051657642
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            390.5760768873926,
+            1179.0608355006748,
+            7.046175051657642
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            390.5760768873926,
+            1179.0608355006748,
+            4.046175051657642
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            390.5760768873926,
+            1179.0608355006748,
+            1.0461750516576416
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "arched windows",
+        "position": [
+            386.53722999999997,
+            1127.8168799999999,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_19-39-13_1604765404/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_19-39-13_1604765404/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..10104085e60afa73a6a6cb0f71c8cd93903cf36a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_19-39-13_1604765404/pose.jsonl
@@ -0,0 +1,483 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1846.9537632995093,
+            990.7880183917881,
+            2.9721337225923676
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1846.9537632995093,
+            990.7880183917881,
+            5.972133722592368
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1846.9537632995093,
+            990.7880183917881,
+            8.972133722592368
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1846.9537632995093,
+            990.7880183917881,
+            11.972133722592368
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1846.9537632995093,
+            990.7880183917881,
+            14.972133722592368
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1846.9537632995093,
+            990.7880183917881,
+            17.972133722592368
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1846.9537632995093,
+            990.7880183917881,
+            20.972133722592368
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1846.9537632995093,
+            990.7880183917881,
+            23.972133722592368
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1846.9537632995093,
+            990.7880183917881,
+            26.972133722592368
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1846.9537632995093,
+            990.7880183917881,
+            29.972133722592368
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1846.9537632995093,
+            990.7880183917881,
+            32.97213372259237
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1846.9537632995093,
+            990.7880183917881,
+            35.97213372259237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1849.5518395108627,
+            989.2880183917881,
+            35.97213372259237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1852.149915722216,
+            987.7880183917881,
+            35.97213372259237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1854.7479919335694,
+            986.2880183917881,
+            35.97213372259237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1857.3460681449228,
+            984.7880183917881,
+            35.97213372259237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1859.9441443562762,
+            983.2880183917881,
+            35.97213372259237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1862.5422205676296,
+            981.7880183917881,
+            35.97213372259237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1865.140296778983,
+            980.2880183917881,
+            35.97213372259237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1867.7383729903363,
+            978.7880183917881,
+            35.97213372259237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1870.3364492016897,
+            977.2880183917881,
+            35.97213372259237
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1870.3364492016897,
+            977.2880183917881,
+            35.97213372259237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1873.3364492016897,
+            977.2880183917881,
+            35.97213372259237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1876.3364492016897,
+            977.2880183917881,
+            35.97213372259237
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1879.3364492016897,
+            977.2880183917881,
+            35.97213372259237
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1879.3364492016897,
+            977.2880183917881,
+            32.97213372259237
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1879.3364492016897,
+            977.2880183917881,
+            29.972133722592368
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1879.3364492016897,
+            977.2880183917881,
+            26.972133722592368
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1879.3364492016897,
+            977.2880183917881,
+            23.972133722592368
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1879.3364492016897,
+            977.2880183917881,
+            20.972133722592368
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1879.3364492016897,
+            977.2880183917881,
+            17.972133722592368
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1879.3364492016897,
+            977.2880183917881,
+            14.972133722592368
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1879.3364492016897,
+            977.2880183917881,
+            11.972133722592368
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1879.3364492016897,
+            977.2880183917881,
+            8.972133722592368
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1879.3364492016897,
+            977.2880183917881,
+            5.972133722592368
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1879.3364492016897,
+            977.2880183917881,
+            2.9721337225923676
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "large windows",
+        "position": [
+            -1906.89703,
+            964.3732000000001,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_2-15-41_933110197/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_2-15-41_933110197/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f00a1aed99040770b8dd2bfb22ac894fdc0ae3b6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_2-15-41_933110197/pose.jsonl
@@ -0,0 +1,665 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1899.5312402641514,
+            1349.0799832055272,
+            0.04417596066561913
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1899.5312402641514,
+            1349.0799832055272,
+            3.044175960665619
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1899.5312402641514,
+            1349.0799832055272,
+            6.044175960665619
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1899.5312402641514,
+            1349.0799832055272,
+            9.04417596066562
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1899.5312402641514,
+            1349.0799832055272,
+            12.04417596066562
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1899.5312402641514,
+            1349.0799832055272,
+            15.04417596066562
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1899.5312402641514,
+            1349.0799832055272,
+            18.04417596066562
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1899.5312402641514,
+            1349.0799832055272,
+            21.04417596066562
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1899.5312402641514,
+            1349.0799832055272,
+            24.04417596066562
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1899.5312402641514,
+            1349.0799832055272,
+            27.04417596066562
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1899.5312402641514,
+            1349.0799832055272,
+            30.04417596066562
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1899.5312402641514,
+            1349.0799832055272,
+            33.04417596066562
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1899.5312402641514,
+            1349.0799832055272,
+            36.04417596066562
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1899.5312402641514,
+            1349.0799832055272,
+            39.04417596066562
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1899.5312402641514,
+            1349.0799832055272,
+            42.04417596066562
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1899.5312402641514,
+            1349.0799832055272,
+            45.04417596066562
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1899.5312402641514,
+            1349.0799832055272,
+            48.04417596066562
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1899.5312402641514,
+            1349.0799832055272,
+            51.04417596066562
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1899.5312402641514,
+            1349.0799832055272,
+            54.04417596066562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1896.933164052798,
+            1350.5799832055272,
+            54.04417596066562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1894.3350878414446,
+            1352.0799832055272,
+            54.04417596066562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1891.7370116300913,
+            1353.5799832055272,
+            54.04417596066562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1889.138935418738,
+            1355.0799832055272,
+            54.04417596066562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1886.5408592073845,
+            1356.5799832055272,
+            54.04417596066562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1883.9427829960312,
+            1358.0799832055272,
+            54.04417596066562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1881.3447067846778,
+            1359.5799832055272,
+            54.04417596066562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1878.7466305733244,
+            1361.0799832055272,
+            54.04417596066562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1876.148554361971,
+            1362.5799832055272,
+            54.04417596066562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1873.5504781506177,
+            1364.0799832055272,
+            54.04417596066562
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1873.5504781506177,
+            1364.0799832055272,
+            54.04417596066562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1872.0504781506177,
+            1366.6780594168806,
+            54.04417596066562
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1870.5504781506177,
+            1369.276135628234,
+            54.04417596066562
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1870.5504781506177,
+            1369.276135628234,
+            51.04417596066562
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1870.5504781506177,
+            1369.276135628234,
+            48.04417596066562
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1870.5504781506177,
+            1369.276135628234,
+            45.04417596066562
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1870.5504781506177,
+            1369.276135628234,
+            42.04417596066562
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1870.5504781506177,
+            1369.276135628234,
+            39.04417596066562
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1870.5504781506177,
+            1369.276135628234,
+            36.04417596066562
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1870.5504781506177,
+            1369.276135628234,
+            33.04417596066562
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1870.5504781506177,
+            1369.276135628234,
+            30.04417596066562
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1870.5504781506177,
+            1369.276135628234,
+            27.04417596066562
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1870.5504781506177,
+            1369.276135628234,
+            24.04417596066562
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1870.5504781506177,
+            1369.276135628234,
+            21.04417596066562
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1870.5504781506177,
+            1369.276135628234,
+            18.04417596066562
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1870.5504781506177,
+            1369.276135628234,
+            15.04417596066562
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1870.5504781506177,
+            1369.276135628234,
+            12.04417596066562
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1870.5504781506177,
+            1369.276135628234,
+            9.04417596066562
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1870.5504781506177,
+            1369.276135628234,
+            6.044175960665619
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1870.5504781506177,
+            1369.276135628234,
+            3.044175960665619
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1870.5504781506177,
+            1369.276135628234,
+            0.04417596066561913
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "red",
+        "feature": "classical architectural elements",
+        "position": [
+            1834.79328,
+            1393.57047,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_2-36-29_87755422/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_2-36-29_87755422/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e050a6ce3cce67dbe5072db3188106d6c2dec71b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_2-36-29_87755422/pose.jsonl
@@ -0,0 +1,691 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1509.6191246806648,
+            1736.8098245714837,
+            0.6898094969329662
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1509.6191246806648,
+            1736.8098245714837,
+            3.6898094969329662
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1509.6191246806648,
+            1736.8098245714837,
+            6.689809496932966
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1509.6191246806648,
+            1736.8098245714837,
+            9.689809496932966
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1509.6191246806648,
+            1736.8098245714837,
+            12.689809496932966
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1509.6191246806648,
+            1736.8098245714837,
+            15.689809496932966
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1509.6191246806648,
+            1736.8098245714837,
+            18.689809496932966
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1509.6191246806648,
+            1736.8098245714837,
+            21.689809496932966
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1509.6191246806648,
+            1736.8098245714837,
+            24.689809496932966
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1509.6191246806648,
+            1736.8098245714837,
+            27.689809496932966
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1509.6191246806648,
+            1736.8098245714837,
+            30.689809496932966
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1509.6191246806648,
+            1736.8098245714837,
+            33.689809496932966
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1509.6191246806648,
+            1736.8098245714837,
+            36.689809496932966
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1509.6191246806648,
+            1736.8098245714837,
+            39.689809496932966
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1509.6191246806648,
+            1736.8098245714837,
+            42.689809496932966
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1509.6191246806648,
+            1736.8098245714837,
+            45.689809496932966
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1509.6191246806648,
+            1736.8098245714837,
+            48.689809496932966
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1509.6191246806648,
+            1736.8098245714837,
+            51.689809496932966
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1509.6191246806648,
+            1736.8098245714837,
+            54.689809496932966
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1506.6191246806648,
+            1736.8098245714837,
+            54.689809496932966
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1503.6191246806648,
+            1736.8098245714837,
+            54.689809496932966
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1500.6191246806648,
+            1736.8098245714837,
+            54.689809496932966
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1497.6191246806648,
+            1736.8098245714837,
+            54.689809496932966
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1494.6191246806648,
+            1736.8098245714837,
+            54.689809496932966
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1491.6191246806648,
+            1736.8098245714837,
+            54.689809496932966
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1491.6191246806648,
+            1736.8098245714837,
+            54.689809496932966
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1489.0210484693114,
+            1738.3098245714837,
+            54.689809496932966
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1486.422972257958,
+            1739.8098245714837,
+            54.689809496932966
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1483.8248960466046,
+            1741.3098245714837,
+            54.689809496932966
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1481.2268198352513,
+            1742.8098245714837,
+            54.689809496932966
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1478.628743623898,
+            1744.3098245714837,
+            54.689809496932966
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1476.0306674125445,
+            1745.8098245714837,
+            54.689809496932966
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1473.4325912011911,
+            1747.3098245714837,
+            54.689809496932966
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1470.8345149898378,
+            1748.8098245714837,
+            54.689809496932966
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1470.8345149898378,
+            1748.8098245714837,
+            51.689809496932966
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1470.8345149898378,
+            1748.8098245714837,
+            48.689809496932966
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1470.8345149898378,
+            1748.8098245714837,
+            45.689809496932966
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1470.8345149898378,
+            1748.8098245714837,
+            42.689809496932966
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1470.8345149898378,
+            1748.8098245714837,
+            39.689809496932966
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1470.8345149898378,
+            1748.8098245714837,
+            36.689809496932966
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1470.8345149898378,
+            1748.8098245714837,
+            33.689809496932966
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1470.8345149898378,
+            1748.8098245714837,
+            30.689809496932966
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -1470.8345149898378,
+            1748.8098245714837,
+            27.689809496932966
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -1470.8345149898378,
+            1748.8098245714837,
+            24.689809496932966
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -1470.8345149898378,
+            1748.8098245714837,
+            21.689809496932966
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -1470.8345149898378,
+            1748.8098245714837,
+            18.689809496932966
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -1470.8345149898378,
+            1748.8098245714837,
+            15.689809496932966
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -1470.8345149898378,
+            1748.8098245714837,
+            12.689809496932966
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -1470.8345149898378,
+            1748.8098245714837,
+            9.689809496932966
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -1470.8345149898378,
+            1748.8098245714837,
+            6.689809496932966
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -1470.8345149898378,
+            1748.8098245714837,
+            3.6898094969329662
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -1470.8345149898378,
+            1748.8098245714837,
+            0.6898094969329662
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "classical architectural elements",
+        "position": [
+            -1415.79828,
+            1766.3789100000001,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_20-48-43_1787897525/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_20-48-43_1787897525/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..af972f31d4f8286219b950d42e331d8409cb2e87
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_20-48-43_1787897525/pose.jsonl
@@ -0,0 +1,457 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -986.1606178416299,
+            1912.2475965983572,
+            0.38486192964244736
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -986.1606178416299,
+            1912.2475965983572,
+            3.3848619296424474
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -986.1606178416299,
+            1912.2475965983572,
+            6.384861929642447
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -986.1606178416299,
+            1912.2475965983572,
+            9.384861929642447
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -986.1606178416299,
+            1912.2475965983572,
+            12.384861929642447
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -986.1606178416299,
+            1912.2475965983572,
+            15.384861929642447
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -986.1606178416299,
+            1912.2475965983572,
+            18.384861929642447
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -986.1606178416299,
+            1912.2475965983572,
+            21.384861929642447
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -986.1606178416299,
+            1912.2475965983572,
+            24.384861929642447
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -986.1606178416299,
+            1912.2475965983572,
+            27.384861929642447
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -986.1606178416299,
+            1912.2475965983572,
+            30.384861929642447
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -986.1606178416299,
+            1912.2475965983572,
+            33.38486192964245
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -986.1606178416299,
+            1912.2475965983572,
+            36.38486192964245
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -986.1606178416299,
+            1912.2475965983572,
+            39.38486192964245
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -986.1606178416299,
+            1912.2475965983572,
+            42.38486192964245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -987.6606178416299,
+            1909.6495203870038,
+            42.38486192964245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -989.1606178416299,
+            1907.0514441756504,
+            42.38486192964245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -990.6606178416299,
+            1904.453367964297,
+            42.38486192964245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -992.1606178416299,
+            1901.8552917529437,
+            42.38486192964245
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -993.6606178416299,
+            1899.2572155415903,
+            42.38486192964245
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -993.6606178416299,
+            1899.2572155415903,
+            39.38486192964245
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -993.6606178416299,
+            1899.2572155415903,
+            36.38486192964245
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -993.6606178416299,
+            1899.2572155415903,
+            33.38486192964245
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -993.6606178416299,
+            1899.2572155415903,
+            30.384861929642447
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -993.6606178416299,
+            1899.2572155415903,
+            27.384861929642447
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -993.6606178416299,
+            1899.2572155415903,
+            24.384861929642447
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -993.6606178416299,
+            1899.2572155415903,
+            21.384861929642447
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -993.6606178416299,
+            1899.2572155415903,
+            18.384861929642447
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -993.6606178416299,
+            1899.2572155415903,
+            15.384861929642447
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -993.6606178416299,
+            1899.2572155415903,
+            12.384861929642447
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -993.6606178416299,
+            1899.2572155415903,
+            9.384861929642447
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -993.6606178416299,
+            1899.2572155415903,
+            6.384861929642447
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -993.6606178416299,
+            1899.2572155415903,
+            3.3848619296424474
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -993.6606178416299,
+            1899.2572155415903,
+            0.38486192964244736
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "ornate detailing",
+        "position": [
+            -1016.88062,
+            1848.49891,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_20-54-11_1267889618/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_20-54-11_1267889618/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cc393c454f5dd258792e7b2cf586df83710e11de
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_20-54-11_1267889618/pose.jsonl
@@ -0,0 +1,717 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1922.1752007915734,
+            906.9164057652667,
+            2.0907384383542365
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1922.1752007915734,
+            906.9164057652667,
+            5.0907384383542365
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1922.1752007915734,
+            906.9164057652667,
+            8.090738438354236
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1922.1752007915734,
+            906.9164057652667,
+            11.090738438354236
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1922.1752007915734,
+            906.9164057652667,
+            14.090738438354236
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1922.1752007915734,
+            906.9164057652667,
+            17.090738438354236
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1922.1752007915734,
+            906.9164057652667,
+            20.090738438354236
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1922.1752007915734,
+            906.9164057652667,
+            23.090738438354236
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1922.1752007915734,
+            906.9164057652667,
+            26.090738438354236
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1922.1752007915734,
+            906.9164057652667,
+            29.090738438354236
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1922.1752007915734,
+            906.9164057652667,
+            32.090738438354236
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1922.1752007915734,
+            906.9164057652667,
+            35.090738438354236
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1922.1752007915734,
+            906.9164057652667,
+            38.090738438354236
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1922.1752007915734,
+            906.9164057652667,
+            41.090738438354236
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1922.1752007915734,
+            906.9164057652667,
+            44.090738438354236
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1922.1752007915734,
+            906.9164057652667,
+            47.090738438354236
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1922.1752007915734,
+            906.9164057652667,
+            50.090738438354236
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1922.1752007915734,
+            906.9164057652667,
+            53.090738438354236
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1919.57712458022,
+            908.4164057652667,
+            53.090738438354236
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1916.9790483688666,
+            909.9164057652667,
+            53.090738438354236
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1914.3809721575133,
+            911.4164057652667,
+            53.090738438354236
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1911.78289594616,
+            912.9164057652667,
+            53.090738438354236
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1909.1848197348065,
+            914.4164057652667,
+            53.090738438354236
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1906.5867435234532,
+            915.9164057652667,
+            53.090738438354236
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1903.9886673120998,
+            917.4164057652667,
+            53.090738438354236
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1901.3905911007464,
+            918.9164057652667,
+            53.090738438354236
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1898.792514889393,
+            920.4164057652667,
+            53.090738438354236
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1896.1944386780397,
+            921.9164057652667,
+            53.090738438354236
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1893.5963624666863,
+            923.4164057652667,
+            53.090738438354236
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1890.998286255333,
+            924.9164057652667,
+            53.090738438354236
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1888.4002100439795,
+            926.4164057652667,
+            53.090738438354236
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1885.8021338326262,
+            927.9164057652667,
+            53.090738438354236
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1883.2040576212728,
+            929.4164057652667,
+            53.090738438354236
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1880.6059814099194,
+            930.9164057652667,
+            53.090738438354236
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1878.007905198566,
+            932.4164057652667,
+            53.090738438354236
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1875.4098289872127,
+            933.9164057652667,
+            53.090738438354236
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1872.8117527758593,
+            935.4164057652667,
+            53.090738438354236
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1872.8117527758593,
+            935.4164057652667,
+            50.090738438354236
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1872.8117527758593,
+            935.4164057652667,
+            47.090738438354236
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1872.8117527758593,
+            935.4164057652667,
+            44.090738438354236
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1872.8117527758593,
+            935.4164057652667,
+            41.090738438354236
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1872.8117527758593,
+            935.4164057652667,
+            38.090738438354236
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1872.8117527758593,
+            935.4164057652667,
+            35.090738438354236
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1872.8117527758593,
+            935.4164057652667,
+            32.090738438354236
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1872.8117527758593,
+            935.4164057652667,
+            29.090738438354236
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1872.8117527758593,
+            935.4164057652667,
+            26.090738438354236
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1872.8117527758593,
+            935.4164057652667,
+            23.090738438354236
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1872.8117527758593,
+            935.4164057652667,
+            20.090738438354236
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1872.8117527758593,
+            935.4164057652667,
+            17.090738438354236
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1872.8117527758593,
+            935.4164057652667,
+            14.090738438354236
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1872.8117527758593,
+            935.4164057652667,
+            11.090738438354236
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            1872.8117527758593,
+            935.4164057652667,
+            8.090738438354236
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            1872.8117527758593,
+            935.4164057652667,
+            5.0907384383542365
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            1872.8117527758593,
+            935.4164057652667,
+            2.0907384383542365
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "red",
+        "feature": "elevated structure",
+        "position": [
+            1841.49188,
+            948.13383,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_21-24-7_223712350/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_21-24-7_223712350/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..597f9d6ce40f4bfb494bc32777d0c28aea6898e2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_21-24-7_223712350/pose.jsonl
@@ -0,0 +1,366 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -288.10619295215525,
+            1469.2379016410312,
+            0.7126153087035121
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -288.10619295215525,
+            1469.2379016410312,
+            3.712615308703512
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -288.10619295215525,
+            1469.2379016410312,
+            6.712615308703512
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -288.10619295215525,
+            1469.2379016410312,
+            9.712615308703512
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -288.10619295215525,
+            1469.2379016410312,
+            12.712615308703512
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -288.10619295215525,
+            1469.2379016410312,
+            15.712615308703512
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -288.10619295215525,
+            1469.2379016410312,
+            18.712615308703512
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -288.10619295215525,
+            1469.2379016410312,
+            21.712615308703512
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -288.10619295215525,
+            1469.2379016410312,
+            24.712615308703512
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -288.10619295215525,
+            1469.2379016410312,
+            27.712615308703512
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -288.10619295215525,
+            1469.2379016410312,
+            30.712615308703512
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -288.10619295215525,
+            1469.2379016410312,
+            33.71261530870351
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -288.10619295215525,
+            1469.2379016410312,
+            36.71261530870351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -288.10619295215525,
+            1466.2379016410312,
+            36.71261530870351
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -288.10619295215525,
+            1463.2379016410312,
+            36.71261530870351
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -288.10619295215525,
+            1463.2379016410312,
+            33.71261530870351
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -288.10619295215525,
+            1463.2379016410312,
+            30.712615308703512
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -288.10619295215525,
+            1463.2379016410312,
+            27.712615308703512
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -288.10619295215525,
+            1463.2379016410312,
+            24.712615308703512
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -288.10619295215525,
+            1463.2379016410312,
+            21.712615308703512
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -288.10619295215525,
+            1463.2379016410312,
+            18.712615308703512
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -288.10619295215525,
+            1463.2379016410312,
+            15.712615308703512
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -288.10619295215525,
+            1463.2379016410312,
+            12.712615308703512
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -288.10619295215525,
+            1463.2379016410312,
+            9.712615308703512
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -288.10619295215525,
+            1463.2379016410312,
+            6.712615308703512
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -288.10619295215525,
+            1463.2379016410312,
+            3.712615308703512
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -288.10619295215525,
+            1463.2379016410312,
+            0.7126153087035121
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "dark",
+        "feature": "glass facade",
+        "position": [
+            -289.64258,
+            1393.57047,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_21-53-7_646755199/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_21-53-7_646755199/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c1d1e94790cb5be17a71d215804178586c40405e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_21-53-7_646755199/pose.jsonl
@@ -0,0 +1,730 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1883.035322983076,
+            1684.584941564615,
+            2.429880710991803
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1883.035322983076,
+            1684.584941564615,
+            5.429880710991803
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1883.035322983076,
+            1684.584941564615,
+            8.429880710991803
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1883.035322983076,
+            1684.584941564615,
+            11.429880710991803
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1883.035322983076,
+            1684.584941564615,
+            14.429880710991803
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1883.035322983076,
+            1684.584941564615,
+            17.429880710991803
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1883.035322983076,
+            1684.584941564615,
+            20.429880710991803
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1883.035322983076,
+            1684.584941564615,
+            23.429880710991803
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1883.035322983076,
+            1684.584941564615,
+            26.429880710991803
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1883.035322983076,
+            1684.584941564615,
+            29.429880710991803
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1883.035322983076,
+            1684.584941564615,
+            32.4298807109918
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1883.035322983076,
+            1684.584941564615,
+            35.4298807109918
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1883.035322983076,
+            1684.584941564615,
+            38.4298807109918
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1883.035322983076,
+            1684.584941564615,
+            41.4298807109918
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1883.035322983076,
+            1684.584941564615,
+            44.4298807109918
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1883.035322983076,
+            1684.584941564615,
+            47.4298807109918
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1883.035322983076,
+            1684.584941564615,
+            50.4298807109918
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1883.035322983076,
+            1684.584941564615,
+            53.4298807109918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1880.035322983076,
+            1684.584941564615,
+            53.4298807109918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1877.035322983076,
+            1684.584941564615,
+            53.4298807109918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1874.035322983076,
+            1684.584941564615,
+            53.4298807109918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1871.035322983076,
+            1684.584941564615,
+            53.4298807109918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1868.035322983076,
+            1684.584941564615,
+            53.4298807109918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1865.035322983076,
+            1684.584941564615,
+            53.4298807109918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1862.035322983076,
+            1684.584941564615,
+            53.4298807109918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1859.035322983076,
+            1684.584941564615,
+            53.4298807109918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1856.035322983076,
+            1684.584941564615,
+            53.4298807109918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1853.035322983076,
+            1684.584941564615,
+            53.4298807109918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1850.035322983076,
+            1684.584941564615,
+            53.4298807109918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1847.035322983076,
+            1684.584941564615,
+            53.4298807109918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1844.035322983076,
+            1684.584941564615,
+            53.4298807109918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1841.035322983076,
+            1684.584941564615,
+            53.4298807109918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1838.035322983076,
+            1684.584941564615,
+            53.4298807109918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1835.035322983076,
+            1684.584941564615,
+            53.4298807109918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1832.035322983076,
+            1684.584941564615,
+            53.4298807109918
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1832.035322983076,
+            1684.584941564615,
+            53.4298807109918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1829.4372467717226,
+            1686.084941564615,
+            53.4298807109918
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1826.8391705603692,
+            1687.584941564615,
+            53.4298807109918
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1826.8391705603692,
+            1687.584941564615,
+            50.4298807109918
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1826.8391705603692,
+            1687.584941564615,
+            47.4298807109918
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1826.8391705603692,
+            1687.584941564615,
+            44.4298807109918
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1826.8391705603692,
+            1687.584941564615,
+            41.4298807109918
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1826.8391705603692,
+            1687.584941564615,
+            38.4298807109918
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1826.8391705603692,
+            1687.584941564615,
+            35.4298807109918
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1826.8391705603692,
+            1687.584941564615,
+            32.4298807109918
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1826.8391705603692,
+            1687.584941564615,
+            29.429880710991803
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1826.8391705603692,
+            1687.584941564615,
+            26.429880710991803
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1826.8391705603692,
+            1687.584941564615,
+            23.429880710991803
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1826.8391705603692,
+            1687.584941564615,
+            20.429880710991803
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1826.8391705603692,
+            1687.584941564615,
+            17.429880710991803
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1826.8391705603692,
+            1687.584941564615,
+            14.429880710991803
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            1826.8391705603692,
+            1687.584941564615,
+            11.429880710991803
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            1826.8391705603692,
+            1687.584941564615,
+            8.429880710991803
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            1826.8391705603692,
+            1687.584941564615,
+            5.429880710991803
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            1826.8391705603692,
+            1687.584941564615,
+            2.429880710991803
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "beige",
+        "feature": "grid of windows",
+        "position": [
+            1783.84,
+            1691.5485899999999,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_22-16-59_1396918184/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_22-16-59_1396918184/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7ae57d529f3051e7dfe44be5c255a96fa88186b0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_22-16-59_1396918184/pose.jsonl
@@ -0,0 +1,353 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            936.907330744601,
+            1441.0609964904675,
+            1.5683227808010827
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            936.907330744601,
+            1441.0609964904675,
+            4.568322780801083
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            936.907330744601,
+            1441.0609964904675,
+            7.568322780801083
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            936.907330744601,
+            1441.0609964904675,
+            10.568322780801083
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            936.907330744601,
+            1441.0609964904675,
+            13.568322780801083
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            936.907330744601,
+            1441.0609964904675,
+            16.568322780801083
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            936.907330744601,
+            1441.0609964904675,
+            19.568322780801083
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            936.907330744601,
+            1441.0609964904675,
+            22.568322780801083
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            936.907330744601,
+            1441.0609964904675,
+            25.568322780801083
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            936.907330744601,
+            1441.0609964904675,
+            28.568322780801083
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            936.907330744601,
+            1441.0609964904675,
+            31.568322780801083
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            936.907330744601,
+            1441.0609964904675,
+            34.56832278080108
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            938.407330744601,
+            1443.6590727018208,
+            34.56832278080108
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            939.907330744601,
+            1446.2571489131742,
+            34.56832278080108
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            941.407330744601,
+            1448.8552251245276,
+            34.56832278080108
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            941.407330744601,
+            1448.8552251245276,
+            31.568322780801083
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            941.407330744601,
+            1448.8552251245276,
+            28.568322780801083
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            941.407330744601,
+            1448.8552251245276,
+            25.568322780801083
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            941.407330744601,
+            1448.8552251245276,
+            22.568322780801083
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            941.407330744601,
+            1448.8552251245276,
+            19.568322780801083
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            941.407330744601,
+            1448.8552251245276,
+            16.568322780801083
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            941.407330744601,
+            1448.8552251245276,
+            13.568322780801083
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            941.407330744601,
+            1448.8552251245276,
+            10.568322780801083
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            941.407330744601,
+            1448.8552251245276,
+            7.568322780801083
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            941.407330744601,
+            1448.8552251245276,
+            4.568322780801083
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            941.407330744601,
+            1448.8552251245276,
+            1.5683227808010827
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "ornate facade",
+        "position": [
+            982.29836,
+            1489.74188,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_22-2-14_413360099/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_22-2-14_413360099/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..807b5c4ca761d60dcc887268e87ba7d8e43598ab
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_22-2-14_413360099/pose.jsonl
@@ -0,0 +1,418 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            494.04167251401054,
+            320.5968687749368,
+            0.7054424460518689
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            494.04167251401054,
+            320.5968687749368,
+            3.705442446051869
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            494.04167251401054,
+            320.5968687749368,
+            6.705442446051869
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            494.04167251401054,
+            320.5968687749368,
+            9.705442446051869
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            494.04167251401054,
+            320.5968687749368,
+            12.705442446051869
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            494.04167251401054,
+            320.5968687749368,
+            15.705442446051869
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            494.04167251401054,
+            320.5968687749368,
+            18.70544244605187
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            494.04167251401054,
+            320.5968687749368,
+            21.70544244605187
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            494.04167251401054,
+            320.5968687749368,
+            24.70544244605187
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            494.04167251401054,
+            320.5968687749368,
+            27.70544244605187
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            494.04167251401054,
+            320.5968687749368,
+            30.70544244605187
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            494.04167251401054,
+            320.5968687749368,
+            33.70544244605187
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            494.04167251401054,
+            320.5968687749368,
+            36.70544244605187
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            494.04167251401054,
+            320.5968687749368,
+            39.70544244605187
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            496.63974872536386,
+            319.0968687749368,
+            39.70544244605187
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            499.2378249367172,
+            317.5968687749368,
+            39.70544244605187
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            499.2378249367172,
+            317.5968687749368,
+            39.70544244605187
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            500.7378249367172,
+            314.9987925635835,
+            39.70544244605187
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            500.7378249367172,
+            314.9987925635835,
+            36.70544244605187
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            500.7378249367172,
+            314.9987925635835,
+            33.70544244605187
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            500.7378249367172,
+            314.9987925635835,
+            30.70544244605187
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            500.7378249367172,
+            314.9987925635835,
+            27.70544244605187
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            500.7378249367172,
+            314.9987925635835,
+            24.70544244605187
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            500.7378249367172,
+            314.9987925635835,
+            21.70544244605187
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            500.7378249367172,
+            314.9987925635835,
+            18.70544244605187
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            500.7378249367172,
+            314.9987925635835,
+            15.705442446051869
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            500.7378249367172,
+            314.9987925635835,
+            12.705442446051869
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            500.7378249367172,
+            314.9987925635835,
+            9.705442446051869
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            500.7378249367172,
+            314.9987925635835,
+            6.705442446051869
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            500.7378249367172,
+            314.9987925635835,
+            3.705442446051869
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            500.7378249367172,
+            314.9987925635835,
+            0.7054424460518689
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "aim_landmark": {
+        "color": "dark",
+        "feature": "glass facade",
+        "position": [
+            558.05457,
+            258.66834,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_22-39-47_1916250774/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_22-39-47_1916250774/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..90066198e807b3ca970d1a76bf3149f5dc905c98
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_22-39-47_1916250774/pose.jsonl
@@ -0,0 +1,574 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -809.3628545221582,
+            290.29905058316564,
+            2.2665615496745204
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -809.3628545221582,
+            290.29905058316564,
+            5.26656154967452
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -809.3628545221582,
+            290.29905058316564,
+            8.26656154967452
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -809.3628545221582,
+            290.29905058316564,
+            11.26656154967452
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -809.3628545221582,
+            290.29905058316564,
+            14.26656154967452
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -809.3628545221582,
+            290.29905058316564,
+            17.26656154967452
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -809.3628545221582,
+            290.29905058316564,
+            20.26656154967452
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -809.3628545221582,
+            290.29905058316564,
+            23.26656154967452
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -809.3628545221582,
+            290.29905058316564,
+            26.26656154967452
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -809.3628545221582,
+            290.29905058316564,
+            29.26656154967452
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -809.3628545221582,
+            290.29905058316564,
+            32.26656154967452
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -809.3628545221582,
+            290.29905058316564,
+            35.26656154967452
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -809.3628545221582,
+            290.29905058316564,
+            38.26656154967452
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -809.3628545221582,
+            290.29905058316564,
+            41.26656154967452
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -809.3628545221582,
+            290.29905058316564,
+            44.26656154967452
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -809.3628545221582,
+            290.29905058316564,
+            47.26656154967452
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -809.3628545221582,
+            290.29905058316564,
+            50.26656154967452
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -809.3628545221582,
+            290.29905058316564,
+            53.26656154967452
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -812.3628545221582,
+            290.29905058316564,
+            53.26656154967452
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -815.3628545221582,
+            290.29905058316564,
+            53.26656154967452
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -818.3628545221582,
+            290.29905058316564,
+            53.26656154967452
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -821.3628545221582,
+            290.29905058316564,
+            53.26656154967452
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -821.3628545221582,
+            290.29905058316564,
+            53.26656154967452
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -823.9609307335115,
+            288.79905058316564,
+            53.26656154967452
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -826.5590069448649,
+            287.29905058316564,
+            53.26656154967452
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -829.1570831562183,
+            285.79905058316564,
+            53.26656154967452
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -829.1570831562183,
+            285.79905058316564,
+            50.26656154967452
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -829.1570831562183,
+            285.79905058316564,
+            47.26656154967452
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -829.1570831562183,
+            285.79905058316564,
+            44.26656154967452
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -829.1570831562183,
+            285.79905058316564,
+            41.26656154967452
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -829.1570831562183,
+            285.79905058316564,
+            38.26656154967452
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -829.1570831562183,
+            285.79905058316564,
+            35.26656154967452
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -829.1570831562183,
+            285.79905058316564,
+            32.26656154967452
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -829.1570831562183,
+            285.79905058316564,
+            29.26656154967452
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -829.1570831562183,
+            285.79905058316564,
+            26.26656154967452
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -829.1570831562183,
+            285.79905058316564,
+            23.26656154967452
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -829.1570831562183,
+            285.79905058316564,
+            20.26656154967452
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -829.1570831562183,
+            285.79905058316564,
+            17.26656154967452
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -829.1570831562183,
+            285.79905058316564,
+            14.26656154967452
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -829.1570831562183,
+            285.79905058316564,
+            11.26656154967452
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -829.1570831562183,
+            285.79905058316564,
+            8.26656154967452
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -829.1570831562183,
+            285.79905058316564,
+            5.26656154967452
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -829.1570831562183,
+            285.79905058316564,
+            2.2665615496745204
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "grid-like facade",
+        "position": [
+            -873.3,
+            279.80018,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_23-33-24_1119399015/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_23-33-24_1119399015/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d2858f22a5354130271f8b60bab51b3be8968759
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_23-33-24_1119399015/pose.jsonl
@@ -0,0 +1,444 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1328.476040501226,
+            1515.9653539026122,
+            1.3701247588946543
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1328.476040501226,
+            1515.9653539026122,
+            4.370124758894654
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1328.476040501226,
+            1515.9653539026122,
+            7.370124758894654
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1328.476040501226,
+            1515.9653539026122,
+            10.370124758894654
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1328.476040501226,
+            1515.9653539026122,
+            13.370124758894654
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1328.476040501226,
+            1515.9653539026122,
+            16.370124758894654
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1328.476040501226,
+            1515.9653539026122,
+            19.370124758894654
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1328.476040501226,
+            1515.9653539026122,
+            22.370124758894654
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1328.476040501226,
+            1515.9653539026122,
+            25.370124758894654
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1328.476040501226,
+            1515.9653539026122,
+            28.370124758894654
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1328.476040501226,
+            1515.9653539026122,
+            31.370124758894654
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1328.476040501226,
+            1515.9653539026122,
+            34.370124758894654
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1328.476040501226,
+            1515.9653539026122,
+            37.370124758894654
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1328.476040501226,
+            1515.9653539026122,
+            40.370124758894654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1325.476040501226,
+            1515.9653539026122,
+            40.370124758894654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1322.476040501226,
+            1515.9653539026122,
+            40.370124758894654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1319.476040501226,
+            1515.9653539026122,
+            40.370124758894654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1316.476040501226,
+            1515.9653539026122,
+            40.370124758894654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1313.476040501226,
+            1515.9653539026122,
+            40.370124758894654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1310.476040501226,
+            1515.9653539026122,
+            40.370124758894654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1310.476040501226,
+            1515.9653539026122,
+            37.370124758894654
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1310.476040501226,
+            1515.9653539026122,
+            34.370124758894654
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1310.476040501226,
+            1515.9653539026122,
+            31.370124758894654
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1310.476040501226,
+            1515.9653539026122,
+            28.370124758894654
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1310.476040501226,
+            1515.9653539026122,
+            25.370124758894654
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1310.476040501226,
+            1515.9653539026122,
+            22.370124758894654
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1310.476040501226,
+            1515.9653539026122,
+            19.370124758894654
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1310.476040501226,
+            1515.9653539026122,
+            16.370124758894654
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1310.476040501226,
+            1515.9653539026122,
+            13.370124758894654
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1310.476040501226,
+            1515.9653539026122,
+            10.370124758894654
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1310.476040501226,
+            1515.9653539026122,
+            7.370124758894654
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1310.476040501226,
+            1515.9653539026122,
+            4.370124758894654
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1310.476040501226,
+            1515.9653539026122,
+            1.3701247588946543
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "dark",
+        "feature": "grid-like facade",
+        "position": [
+            1232.2456200000001,
+            1502.7425,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-34-27_711845894/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-34-27_711845894/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f0cf277ec21d59cc0e46819acb8e46531266fde9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-34-27_711845894/pose.jsonl
@@ -0,0 +1,392 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            220.3525397936719,
+            1125.6327474360407,
+            1.6471825621358889
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            220.3525397936719,
+            1125.6327474360407,
+            4.647182562135889
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            220.3525397936719,
+            1125.6327474360407,
+            7.647182562135889
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            220.3525397936719,
+            1125.6327474360407,
+            10.647182562135889
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            220.3525397936719,
+            1125.6327474360407,
+            13.647182562135889
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            220.3525397936719,
+            1125.6327474360407,
+            16.64718256213589
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            220.3525397936719,
+            1125.6327474360407,
+            19.64718256213589
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            220.3525397936719,
+            1125.6327474360407,
+            22.64718256213589
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            220.3525397936719,
+            1125.6327474360407,
+            25.64718256213589
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            220.3525397936719,
+            1125.6327474360407,
+            28.64718256213589
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            220.3525397936719,
+            1125.6327474360407,
+            31.64718256213589
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            220.3525397936719,
+            1125.6327474360407,
+            34.64718256213589
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            220.3525397936719,
+            1125.6327474360407,
+            37.64718256213589
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            220.3525397936719,
+            1125.6327474360407,
+            40.64718256213589
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            221.8525397936719,
+            1123.0346712246874,
+            40.64718256213589
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            223.3525397936719,
+            1120.436595013334,
+            40.64718256213589
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            223.3525397936719,
+            1120.436595013334,
+            37.64718256213589
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            223.3525397936719,
+            1120.436595013334,
+            34.64718256213589
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            223.3525397936719,
+            1120.436595013334,
+            31.64718256213589
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            223.3525397936719,
+            1120.436595013334,
+            28.64718256213589
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            223.3525397936719,
+            1120.436595013334,
+            25.64718256213589
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            223.3525397936719,
+            1120.436595013334,
+            22.64718256213589
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            223.3525397936719,
+            1120.436595013334,
+            19.64718256213589
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            223.3525397936719,
+            1120.436595013334,
+            16.64718256213589
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            223.3525397936719,
+            1120.436595013334,
+            13.647182562135889
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            223.3525397936719,
+            1120.436595013334,
+            10.647182562135889
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            223.3525397936719,
+            1120.436595013334,
+            7.647182562135889
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            223.3525397936719,
+            1120.436595013334,
+            4.647182562135889
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            223.3525397936719,
+            1120.436595013334,
+            1.6471825621358889
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "arched windows",
+        "position": [
+            252.62217,
+            1057.61047,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-48-30_1472713773/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-48-30_1472713773/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c77b7ea3c9642e0a876890ee4176c551fb174827
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_3-48-30_1472713773/pose.jsonl
@@ -0,0 +1,418 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1970.5538928475364,
+            1965.0999265247665,
+            2.4365872395729014
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1970.5538928475364,
+            1965.0999265247665,
+            5.436587239572901
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1970.5538928475364,
+            1965.0999265247665,
+            8.436587239572901
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1970.5538928475364,
+            1965.0999265247665,
+            11.436587239572901
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1970.5538928475364,
+            1965.0999265247665,
+            14.436587239572901
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1970.5538928475364,
+            1965.0999265247665,
+            17.4365872395729
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1970.5538928475364,
+            1965.0999265247665,
+            20.4365872395729
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1970.5538928475364,
+            1965.0999265247665,
+            23.4365872395729
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1970.5538928475364,
+            1965.0999265247665,
+            26.4365872395729
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1970.5538928475364,
+            1965.0999265247665,
+            29.4365872395729
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1970.5538928475364,
+            1965.0999265247665,
+            32.4365872395729
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1970.5538928475364,
+            1965.0999265247665,
+            35.4365872395729
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1973.1519690588898,
+            1963.5999265247665,
+            35.4365872395729
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1975.7500452702432,
+            1962.0999265247665,
+            35.4365872395729
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1978.3481214815965,
+            1960.5999265247665,
+            35.4365872395729
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1980.94619769295,
+            1959.0999265247665,
+            35.4365872395729
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1980.94619769295,
+            1959.0999265247665,
+            35.4365872395729
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1982.44619769295,
+            1956.5018503134131,
+            35.4365872395729
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1983.94619769295,
+            1953.9037741020597,
+            35.4365872395729
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1985.44619769295,
+            1951.3056978907064,
+            35.4365872395729
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1985.44619769295,
+            1951.3056978907064,
+            32.4365872395729
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1985.44619769295,
+            1951.3056978907064,
+            29.4365872395729
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1985.44619769295,
+            1951.3056978907064,
+            26.4365872395729
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1985.44619769295,
+            1951.3056978907064,
+            23.4365872395729
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1985.44619769295,
+            1951.3056978907064,
+            20.4365872395729
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1985.44619769295,
+            1951.3056978907064,
+            17.4365872395729
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1985.44619769295,
+            1951.3056978907064,
+            14.436587239572901
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1985.44619769295,
+            1951.3056978907064,
+            11.436587239572901
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1985.44619769295,
+            1951.3056978907064,
+            8.436587239572901
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1985.44619769295,
+            1951.3056978907064,
+            5.436587239572901
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1985.44619769295,
+            1951.3056978907064,
+            2.4365872395729014
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "dark",
+        "feature": "glass facade",
+        "position": [
+            -2030.76406,
+            1914.7667199999999,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-52-19_1756915667/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-52-19_1756915667/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..21e0538de74195893a1c53b2975dc280cb39fa83
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_4-52-19_1756915667/pose.jsonl
@@ -0,0 +1,522 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -972.3863413704652,
+            1037.914783749712,
+            2.2126393287873114
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -972.3863413704652,
+            1037.914783749712,
+            5.212639328787311
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -972.3863413704652,
+            1037.914783749712,
+            8.212639328787311
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -972.3863413704652,
+            1037.914783749712,
+            11.212639328787311
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -972.3863413704652,
+            1037.914783749712,
+            14.212639328787311
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -972.3863413704652,
+            1037.914783749712,
+            17.21263932878731
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -972.3863413704652,
+            1037.914783749712,
+            20.21263932878731
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -972.3863413704652,
+            1037.914783749712,
+            23.21263932878731
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -972.3863413704652,
+            1037.914783749712,
+            26.21263932878731
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -972.3863413704652,
+            1037.914783749712,
+            29.21263932878731
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -972.3863413704652,
+            1037.914783749712,
+            32.21263932878731
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -972.3863413704652,
+            1037.914783749712,
+            35.21263932878731
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -972.3863413704652,
+            1037.914783749712,
+            38.21263932878731
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -972.3863413704652,
+            1037.914783749712,
+            41.21263932878731
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -972.3863413704652,
+            1037.914783749712,
+            44.21263932878731
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -972.3863413704652,
+            1037.914783749712,
+            47.21263932878731
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -972.3863413704652,
+            1037.914783749712,
+            50.21263932878731
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -972.3863413704652,
+            1037.914783749712,
+            53.21263932878731
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -969.3863413704652,
+            1037.914783749712,
+            53.21263932878731
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -969.3863413704652,
+            1037.914783749712,
+            53.21263932878731
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -966.7882651591119,
+            1036.414783749712,
+            53.21263932878731
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -964.1901889477585,
+            1034.914783749712,
+            53.21263932878731
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -964.1901889477585,
+            1034.914783749712,
+            50.21263932878731
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -964.1901889477585,
+            1034.914783749712,
+            47.21263932878731
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -964.1901889477585,
+            1034.914783749712,
+            44.21263932878731
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -964.1901889477585,
+            1034.914783749712,
+            41.21263932878731
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -964.1901889477585,
+            1034.914783749712,
+            38.21263932878731
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -964.1901889477585,
+            1034.914783749712,
+            35.21263932878731
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -964.1901889477585,
+            1034.914783749712,
+            32.21263932878731
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -964.1901889477585,
+            1034.914783749712,
+            29.21263932878731
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -964.1901889477585,
+            1034.914783749712,
+            26.21263932878731
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -964.1901889477585,
+            1034.914783749712,
+            23.21263932878731
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -964.1901889477585,
+            1034.914783749712,
+            20.21263932878731
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -964.1901889477585,
+            1034.914783749712,
+            17.21263932878731
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -964.1901889477585,
+            1034.914783749712,
+            14.212639328787311
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -964.1901889477585,
+            1034.914783749712,
+            11.212639328787311
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -964.1901889477585,
+            1034.914783749712,
+            8.212639328787311
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -964.1901889477585,
+            1034.914783749712,
+            5.212639328787311
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -964.1901889477585,
+            1034.914783749712,
+            2.2126393287873114
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "classical architectural elements",
+        "position": [
+            -885.33875,
+            1010.4575,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_5-30-16_1111783898/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_5-30-16_1111783898/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2519ce5b1a7c8452dfb34f90f2fa7ca8a9d33dd6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_5-30-16_1111783898/pose.jsonl
@@ -0,0 +1,353 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            420.4234921698486,
+            1745.6145945963137,
+            0.08902359356982004
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            420.4234921698486,
+            1745.6145945963137,
+            3.08902359356982
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            420.4234921698486,
+            1745.6145945963137,
+            6.08902359356982
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            420.4234921698486,
+            1745.6145945963137,
+            9.08902359356982
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            420.4234921698486,
+            1745.6145945963137,
+            12.08902359356982
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            420.4234921698486,
+            1745.6145945963137,
+            15.08902359356982
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            420.4234921698486,
+            1745.6145945963137,
+            18.08902359356982
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            420.4234921698486,
+            1745.6145945963137,
+            21.08902359356982
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            420.4234921698486,
+            1745.6145945963137,
+            24.08902359356982
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            420.4234921698486,
+            1745.6145945963137,
+            27.08902359356982
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            420.4234921698486,
+            1745.6145945963137,
+            30.08902359356982
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            420.4234921698486,
+            1745.6145945963137,
+            33.08902359356982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            418.9234921698486,
+            1743.0165183849604,
+            33.08902359356982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            417.4234921698486,
+            1740.418442173607,
+            33.08902359356982
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            415.9234921698486,
+            1737.8203659622536,
+            33.08902359356982
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            415.9234921698486,
+            1737.8203659622536,
+            30.08902359356982
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            415.9234921698486,
+            1737.8203659622536,
+            27.08902359356982
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            415.9234921698486,
+            1737.8203659622536,
+            24.08902359356982
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            415.9234921698486,
+            1737.8203659622536,
+            21.08902359356982
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            415.9234921698486,
+            1737.8203659622536,
+            18.08902359356982
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            415.9234921698486,
+            1737.8203659622536,
+            15.08902359356982
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            415.9234921698486,
+            1737.8203659622536,
+            12.08902359356982
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            415.9234921698486,
+            1737.8203659622536,
+            9.08902359356982
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            415.9234921698486,
+            1737.8203659622536,
+            6.08902359356982
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            415.9234921698486,
+            1737.8203659622536,
+            3.08902359356982
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            415.9234921698486,
+            1737.8203659622536,
+            0.08902359356982004
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "beige",
+        "feature": "ornate detailing",
+        "position": [
+            384.06434,
+            1683.6604699999998,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_5-33-8_1197352298/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_5-33-8_1197352298/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c61e03197f4349e443d421a8174266db5199838a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_5-33-8_1197352298/pose.jsonl
@@ -0,0 +1,431 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1338.0298661230204,
+            591.6720729066878,
+            2.0522131427165817
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1338.0298661230204,
+            591.6720729066878,
+            5.052213142716582
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1338.0298661230204,
+            591.6720729066878,
+            8.052213142716582
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1338.0298661230204,
+            591.6720729066878,
+            11.052213142716582
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1338.0298661230204,
+            591.6720729066878,
+            14.052213142716582
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1338.0298661230204,
+            591.6720729066878,
+            17.05221314271658
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1338.0298661230204,
+            591.6720729066878,
+            20.05221314271658
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1338.0298661230204,
+            591.6720729066878,
+            23.05221314271658
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1338.0298661230204,
+            591.6720729066878,
+            26.05221314271658
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1338.0298661230204,
+            591.6720729066878,
+            29.05221314271658
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1338.0298661230204,
+            591.6720729066878,
+            32.05221314271658
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1338.0298661230204,
+            591.6720729066878,
+            35.05221314271658
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1338.0298661230204,
+            591.6720729066878,
+            38.05221314271658
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1338.0298661230204,
+            591.6720729066878,
+            41.05221314271658
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1335.431789911667,
+            590.1720729066878,
+            41.05221314271658
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1332.8337137003136,
+            588.6720729066878,
+            41.05221314271658
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1330.2356374889603,
+            587.1720729066878,
+            41.05221314271658
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1327.637561277607,
+            585.6720729066878,
+            41.05221314271658
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1325.0394850662535,
+            584.1720729066878,
+            41.05221314271658
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1325.0394850662535,
+            584.1720729066878,
+            38.05221314271658
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1325.0394850662535,
+            584.1720729066878,
+            35.05221314271658
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1325.0394850662535,
+            584.1720729066878,
+            32.05221314271658
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1325.0394850662535,
+            584.1720729066878,
+            29.05221314271658
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1325.0394850662535,
+            584.1720729066878,
+            26.05221314271658
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1325.0394850662535,
+            584.1720729066878,
+            23.05221314271658
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1325.0394850662535,
+            584.1720729066878,
+            20.05221314271658
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1325.0394850662535,
+            584.1720729066878,
+            17.05221314271658
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1325.0394850662535,
+            584.1720729066878,
+            14.052213142716582
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1325.0394850662535,
+            584.1720729066878,
+            11.052213142716582
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1325.0394850662535,
+            584.1720729066878,
+            8.052213142716582
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1325.0394850662535,
+            584.1720729066878,
+            5.052213142716582
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1325.0394850662535,
+            584.1720729066878,
+            2.0522131427165817
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "many windows",
+        "position": [
+            1284.89672,
+            558.44074,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-28-48_282828202/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-28-48_282828202/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..08da068dbce70f3317e79d0c60e8936f29c24444
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-28-48_282828202/pose.jsonl
@@ -0,0 +1,509 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1510.939964031595,
+            79.42013989254913,
+            2.3537820547424033
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1510.939964031595,
+            79.42013989254913,
+            5.353782054742403
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1510.939964031595,
+            79.42013989254913,
+            8.353782054742403
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1510.939964031595,
+            79.42013989254913,
+            11.353782054742403
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1510.939964031595,
+            79.42013989254913,
+            14.353782054742403
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1510.939964031595,
+            79.42013989254913,
+            17.353782054742403
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1510.939964031595,
+            79.42013989254913,
+            20.353782054742403
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1510.939964031595,
+            79.42013989254913,
+            23.353782054742403
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1510.939964031595,
+            79.42013989254913,
+            26.353782054742403
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1510.939964031595,
+            79.42013989254913,
+            29.353782054742403
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1510.939964031595,
+            79.42013989254913,
+            32.3537820547424
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1510.939964031595,
+            79.42013989254913,
+            35.3537820547424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1510.939964031595,
+            82.42013989254913,
+            35.3537820547424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1510.939964031595,
+            85.42013989254913,
+            35.3537820547424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1510.939964031595,
+            88.42013989254913,
+            35.3537820547424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1510.939964031595,
+            91.42013989254913,
+            35.3537820547424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1510.939964031595,
+            94.42013989254913,
+            35.3537820547424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1510.939964031595,
+            97.42013989254913,
+            35.3537820547424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1510.939964031595,
+            100.42013989254913,
+            35.3537820547424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1510.939964031595,
+            103.42013989254913,
+            35.3537820547424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1510.939964031595,
+            106.42013989254913,
+            35.3537820547424
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1510.939964031595,
+            106.42013989254913,
+            35.3537820547424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1509.439964031595,
+            109.01821610390245,
+            35.3537820547424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1507.939964031595,
+            111.61629231525576,
+            35.3537820547424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1506.439964031595,
+            114.21436852660908,
+            35.3537820547424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1504.939964031595,
+            116.8124447379624,
+            35.3537820547424
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1503.439964031595,
+            119.41052094931571,
+            35.3537820547424
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1503.439964031595,
+            119.41052094931571,
+            32.3537820547424
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1503.439964031595,
+            119.41052094931571,
+            29.353782054742403
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1503.439964031595,
+            119.41052094931571,
+            26.353782054742403
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1503.439964031595,
+            119.41052094931571,
+            23.353782054742403
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1503.439964031595,
+            119.41052094931571,
+            20.353782054742403
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1503.439964031595,
+            119.41052094931571,
+            17.353782054742403
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1503.439964031595,
+            119.41052094931571,
+            14.353782054742403
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1503.439964031595,
+            119.41052094931571,
+            11.353782054742403
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1503.439964031595,
+            119.41052094931571,
+            8.353782054742403
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1503.439964031595,
+            119.41052094931571,
+            5.353782054742403
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1503.439964031595,
+            119.41052094931571,
+            2.3537820547424033
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "suspended structure",
+        "position": [
+            1488.33344,
+            176.49982,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-45-31_1242608872/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-45-31_1242608872/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..527a6f6afb8c0db830af92db105b201292799701
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_6-45-31_1242608872/pose.jsonl
@@ -0,0 +1,548 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1476.1725792456853,
+            -29.357421898399238,
+            2.048569617475877
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1476.1725792456853,
+            -29.357421898399238,
+            5.048569617475877
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1476.1725792456853,
+            -29.357421898399238,
+            8.048569617475877
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1476.1725792456853,
+            -29.357421898399238,
+            11.048569617475877
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1476.1725792456853,
+            -29.357421898399238,
+            14.048569617475877
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1476.1725792456853,
+            -29.357421898399238,
+            17.048569617475877
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1476.1725792456853,
+            -29.357421898399238,
+            20.048569617475877
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1476.1725792456853,
+            -29.357421898399238,
+            23.048569617475877
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1476.1725792456853,
+            -29.357421898399238,
+            26.048569617475877
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1476.1725792456853,
+            -29.357421898399238,
+            29.048569617475877
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1476.1725792456853,
+            -29.357421898399238,
+            32.04856961747588
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1476.1725792456853,
+            -29.357421898399238,
+            35.04856961747588
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1476.1725792456853,
+            -29.357421898399238,
+            38.04856961747588
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1476.1725792456853,
+            -29.357421898399238,
+            41.04856961747588
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1474.6725792456853,
+            -31.955498109752554,
+            41.04856961747588
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1473.1725792456853,
+            -34.55357432110587,
+            41.04856961747588
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1471.6725792456853,
+            -37.151650532459186,
+            41.04856961747588
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1470.1725792456853,
+            -39.7497267438125,
+            41.04856961747588
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1468.6725792456853,
+            -42.34780295516582,
+            41.04856961747588
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1467.1725792456853,
+            -44.945879166519134,
+            41.04856961747588
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1465.6725792456853,
+            -47.54395537787245,
+            41.04856961747588
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1465.6725792456853,
+            -47.54395537787245,
+            41.04856961747588
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1465.6725792456853,
+            -50.54395537787245,
+            41.04856961747588
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1465.6725792456853,
+            -53.54395537787245,
+            41.04856961747588
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1465.6725792456853,
+            -56.54395537787245,
+            41.04856961747588
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1465.6725792456853,
+            -59.54395537787245,
+            41.04856961747588
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1465.6725792456853,
+            -62.54395537787245,
+            41.04856961747588
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1465.6725792456853,
+            -65.54395537787245,
+            41.04856961747588
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1465.6725792456853,
+            -65.54395537787245,
+            38.04856961747588
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1465.6725792456853,
+            -65.54395537787245,
+            35.04856961747588
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1465.6725792456853,
+            -65.54395537787245,
+            32.04856961747588
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1465.6725792456853,
+            -65.54395537787245,
+            29.048569617475877
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1465.6725792456853,
+            -65.54395537787245,
+            26.048569617475877
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1465.6725792456853,
+            -65.54395537787245,
+            23.048569617475877
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1465.6725792456853,
+            -65.54395537787245,
+            20.048569617475877
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1465.6725792456853,
+            -65.54395537787245,
+            17.048569617475877
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1465.6725792456853,
+            -65.54395537787245,
+            14.048569617475877
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1465.6725792456853,
+            -65.54395537787245,
+            11.048569617475877
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1465.6725792456853,
+            -65.54395537787245,
+            8.048569617475877
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1465.6725792456853,
+            -65.54395537787245,
+            5.048569617475877
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1465.6725792456853,
+            -65.54395537787245,
+            2.048569617475877
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "classical architectural elements",
+        "position": [
+            1454.9131200000002,
+            -96.71117,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "right",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-11-33_212251746/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-11-33_212251746/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ae3478a0e5d9cb5baef96bce39febf71529825ac
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-11-33_212251746/pose.jsonl
@@ -0,0 +1,470 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -573.4327563363851,
+            1185.704458182972,
+            0.4768644823031636
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -573.4327563363851,
+            1185.704458182972,
+            3.4768644823031636
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -573.4327563363851,
+            1185.704458182972,
+            6.476864482303164
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -573.4327563363851,
+            1185.704458182972,
+            9.476864482303164
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -573.4327563363851,
+            1185.704458182972,
+            12.476864482303164
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -573.4327563363851,
+            1185.704458182972,
+            15.476864482303164
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -573.4327563363851,
+            1185.704458182972,
+            18.476864482303164
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -573.4327563363851,
+            1185.704458182972,
+            21.476864482303164
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -573.4327563363851,
+            1185.704458182972,
+            24.476864482303164
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -573.4327563363851,
+            1185.704458182972,
+            27.476864482303164
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -573.4327563363851,
+            1185.704458182972,
+            30.476864482303164
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -573.4327563363851,
+            1185.704458182972,
+            33.476864482303164
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -573.4327563363851,
+            1185.704458182972,
+            36.476864482303164
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -573.4327563363851,
+            1185.704458182972,
+            39.476864482303164
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -573.4327563363851,
+            1185.704458182972,
+            42.476864482303164
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -573.4327563363851,
+            1185.704458182972,
+            45.476864482303164
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -573.4327563363851,
+            1185.704458182972,
+            48.476864482303164
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -571.9327563363851,
+            1188.3025343943254,
+            48.476864482303164
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -570.4327563363851,
+            1190.9006106056788,
+            48.476864482303164
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -570.4327563363851,
+            1190.9006106056788,
+            45.476864482303164
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -570.4327563363851,
+            1190.9006106056788,
+            42.476864482303164
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -570.4327563363851,
+            1190.9006106056788,
+            39.476864482303164
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -570.4327563363851,
+            1190.9006106056788,
+            36.476864482303164
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -570.4327563363851,
+            1190.9006106056788,
+            33.476864482303164
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -570.4327563363851,
+            1190.9006106056788,
+            30.476864482303164
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -570.4327563363851,
+            1190.9006106056788,
+            27.476864482303164
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -570.4327563363851,
+            1190.9006106056788,
+            24.476864482303164
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -570.4327563363851,
+            1190.9006106056788,
+            21.476864482303164
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -570.4327563363851,
+            1190.9006106056788,
+            18.476864482303164
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -570.4327563363851,
+            1190.9006106056788,
+            15.476864482303164
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -570.4327563363851,
+            1190.9006106056788,
+            12.476864482303164
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -570.4327563363851,
+            1190.9006106056788,
+            9.476864482303164
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -570.4327563363851,
+            1190.9006106056788,
+            6.476864482303164
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -570.4327563363851,
+            1190.9006106056788,
+            3.4768644823031636
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -570.4327563363851,
+            1190.9006106056788,
+            0.4768644823031636
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "ornate detailing",
+        "position": [
+            -532.14527,
+            1256.92125,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-34-23_1671294892/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-34-23_1671294892/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e488dda13398e2a2d206ddbf90cb6bcea15d40f6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_7-34-23_1671294892/pose.jsonl
@@ -0,0 +1,392 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1394.3955432241892,
+            1184.6381931899261,
+            1.2526586618349782
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1394.3955432241892,
+            1184.6381931899261,
+            4.252658661834978
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1394.3955432241892,
+            1184.6381931899261,
+            7.252658661834978
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1394.3955432241892,
+            1184.6381931899261,
+            10.252658661834978
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1394.3955432241892,
+            1184.6381931899261,
+            13.252658661834978
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1394.3955432241892,
+            1184.6381931899261,
+            16.252658661834978
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1394.3955432241892,
+            1184.6381931899261,
+            19.252658661834978
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1394.3955432241892,
+            1184.6381931899261,
+            22.252658661834978
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1394.3955432241892,
+            1184.6381931899261,
+            25.252658661834978
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1394.3955432241892,
+            1184.6381931899261,
+            28.252658661834978
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1394.3955432241892,
+            1184.6381931899261,
+            31.252658661834978
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1394.3955432241892,
+            1184.6381931899261,
+            34.25265866183498
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1394.3955432241892,
+            1184.6381931899261,
+            37.25265866183498
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1394.3955432241892,
+            1184.6381931899261,
+            40.25265866183498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1395.8955432241892,
+            1182.0401169785728,
+            40.25265866183498
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1397.3955432241892,
+            1179.4420407672194,
+            40.25265866183498
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1397.3955432241892,
+            1179.4420407672194,
+            37.25265866183498
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1397.3955432241892,
+            1179.4420407672194,
+            34.25265866183498
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1397.3955432241892,
+            1179.4420407672194,
+            31.252658661834978
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1397.3955432241892,
+            1179.4420407672194,
+            28.252658661834978
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1397.3955432241892,
+            1179.4420407672194,
+            25.252658661834978
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1397.3955432241892,
+            1179.4420407672194,
+            22.252658661834978
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1397.3955432241892,
+            1179.4420407672194,
+            19.252658661834978
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1397.3955432241892,
+            1179.4420407672194,
+            16.252658661834978
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1397.3955432241892,
+            1179.4420407672194,
+            13.252658661834978
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1397.3955432241892,
+            1179.4420407672194,
+            10.252658661834978
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1397.3955432241892,
+            1179.4420407672194,
+            7.252658661834978
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1397.3955432241892,
+            1179.4420407672194,
+            4.252658661834978
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1397.3955432241892,
+            1179.4420407672194,
+            1.2526586618349782
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "ornate detailing",
+        "position": [
+            1420.1831200000001,
+            1122.5625,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_8-32-42_1812282134/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_8-32-42_1812282134/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e86fe8c3e3fa0aad2e25f3edcd11d342141a3397
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_8-32-42_1812282134/pose.jsonl
@@ -0,0 +1,587 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1452.4248316382702,
+            646.6514704295639,
+            1.3836160279361636
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1452.4248316382702,
+            646.6514704295639,
+            4.383616027936164
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1452.4248316382702,
+            646.6514704295639,
+            7.383616027936164
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1452.4248316382702,
+            646.6514704295639,
+            10.383616027936164
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1452.4248316382702,
+            646.6514704295639,
+            13.383616027936164
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1452.4248316382702,
+            646.6514704295639,
+            16.383616027936164
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1452.4248316382702,
+            646.6514704295639,
+            19.383616027936164
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1452.4248316382702,
+            646.6514704295639,
+            22.383616027936164
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1452.4248316382702,
+            646.6514704295639,
+            25.383616027936164
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1452.4248316382702,
+            646.6514704295639,
+            28.383616027936164
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1452.4248316382702,
+            646.6514704295639,
+            31.383616027936164
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1452.4248316382702,
+            646.6514704295639,
+            34.383616027936164
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1452.4248316382702,
+            646.6514704295639,
+            37.383616027936164
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1455.0229078496236,
+            645.1514704295639,
+            37.383616027936164
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1457.620984060977,
+            643.6514704295639,
+            37.383616027936164
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1460.2190602723304,
+            642.1514704295639,
+            37.383616027936164
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1462.8171364836837,
+            640.6514704295639,
+            37.383616027936164
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1465.415212695037,
+            639.1514704295639,
+            37.383616027936164
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1468.0132889063905,
+            637.6514704295639,
+            37.383616027936164
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1470.6113651177438,
+            636.1514704295639,
+            37.383616027936164
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1470.6113651177438,
+            636.1514704295639,
+            37.383616027936164
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1472.1113651177438,
+            633.5533942182105,
+            37.383616027936164
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1473.6113651177438,
+            630.9553180068572,
+            37.383616027936164
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1475.1113651177438,
+            628.3572417955038,
+            37.383616027936164
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1476.6113651177438,
+            625.7591655841504,
+            37.383616027936164
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1478.1113651177438,
+            623.161089372797,
+            37.383616027936164
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1479.6113651177438,
+            620.5630131614437,
+            37.383616027936164
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1481.1113651177438,
+            617.9649369500903,
+            37.383616027936164
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1482.6113651177438,
+            615.3668607387369,
+            37.383616027936164
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1484.1113651177438,
+            612.7687845273836,
+            37.383616027936164
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1485.6113651177438,
+            610.1707083160302,
+            37.383616027936164
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1487.1113651177438,
+            607.5726321046768,
+            37.383616027936164
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1487.1113651177438,
+            607.5726321046768,
+            34.383616027936164
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1487.1113651177438,
+            607.5726321046768,
+            31.383616027936164
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1487.1113651177438,
+            607.5726321046768,
+            28.383616027936164
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1487.1113651177438,
+            607.5726321046768,
+            25.383616027936164
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1487.1113651177438,
+            607.5726321046768,
+            22.383616027936164
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1487.1113651177438,
+            607.5726321046768,
+            19.383616027936164
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1487.1113651177438,
+            607.5726321046768,
+            16.383616027936164
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1487.1113651177438,
+            607.5726321046768,
+            13.383616027936164
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1487.1113651177438,
+            607.5726321046768,
+            10.383616027936164
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1487.1113651177438,
+            607.5726321046768,
+            7.383616027936164
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1487.1113651177438,
+            607.5726321046768,
+            4.383616027936164
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1487.1113651177438,
+            607.5726321046768,
+            1.3836160279361636
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "arched windows",
+        "position": [
+            1519.5864100000001,
+            576.95793,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "left",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_8-56-58_1219407971/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_8-56-58_1219407971/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b7be4a35de1061ce72339b15cc5fd9fbb249efad
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_8-56-58_1219407971/pose.jsonl
@@ -0,0 +1,652 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1927.5093717013128,
+            612.2937528982764,
+            2.2502356284948632
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1927.5093717013128,
+            612.2937528982764,
+            5.250235628494863
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1927.5093717013128,
+            612.2937528982764,
+            8.250235628494863
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1927.5093717013128,
+            612.2937528982764,
+            11.250235628494863
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1927.5093717013128,
+            612.2937528982764,
+            14.250235628494863
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1927.5093717013128,
+            612.2937528982764,
+            17.250235628494863
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1927.5093717013128,
+            612.2937528982764,
+            20.250235628494863
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1927.5093717013128,
+            612.2937528982764,
+            23.250235628494863
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1927.5093717013128,
+            612.2937528982764,
+            26.250235628494863
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1927.5093717013128,
+            612.2937528982764,
+            29.250235628494863
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1927.5093717013128,
+            612.2937528982764,
+            32.25023562849486
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1927.5093717013128,
+            612.2937528982764,
+            35.25023562849486
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1927.5093717013128,
+            612.2937528982764,
+            38.25023562849486
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1927.5093717013128,
+            612.2937528982764,
+            41.25023562849486
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1927.5093717013128,
+            612.2937528982764,
+            44.25023562849486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1924.5093717013128,
+            612.2937528982764,
+            44.25023562849486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1921.5093717013128,
+            612.2937528982764,
+            44.25023562849486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1918.5093717013128,
+            612.2937528982764,
+            44.25023562849486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1915.5093717013128,
+            612.2937528982764,
+            44.25023562849486
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1915.5093717013128,
+            612.2937528982764,
+            44.25023562849486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1912.9112954899595,
+            613.7937528982764,
+            44.25023562849486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1910.313219278606,
+            615.2937528982764,
+            44.25023562849486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1907.7151430672527,
+            616.7937528982764,
+            44.25023562849486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1905.1170668558993,
+            618.2937528982764,
+            44.25023562849486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1902.518990644546,
+            619.7937528982764,
+            44.25023562849486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1899.9209144331926,
+            621.2937528982764,
+            44.25023562849486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1897.3228382218392,
+            622.7937528982764,
+            44.25023562849486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1894.7247620104858,
+            624.2937528982764,
+            44.25023562849486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1892.1266857991325,
+            625.7937528982764,
+            44.25023562849486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1889.528609587779,
+            627.2937528982764,
+            44.25023562849486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1886.9305333764257,
+            628.7937528982764,
+            44.25023562849486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1884.3324571650724,
+            630.2937528982764,
+            44.25023562849486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1881.734380953719,
+            631.7937528982764,
+            44.25023562849486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1879.1363047423656,
+            633.2937528982764,
+            44.25023562849486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1876.5382285310122,
+            634.7937528982764,
+            44.25023562849486
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1876.5382285310122,
+            634.7937528982764,
+            41.25023562849486
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1876.5382285310122,
+            634.7937528982764,
+            38.25023562849486
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1876.5382285310122,
+            634.7937528982764,
+            35.25023562849486
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1876.5382285310122,
+            634.7937528982764,
+            32.25023562849486
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1876.5382285310122,
+            634.7937528982764,
+            29.250235628494863
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -1876.5382285310122,
+            634.7937528982764,
+            26.250235628494863
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -1876.5382285310122,
+            634.7937528982764,
+            23.250235628494863
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -1876.5382285310122,
+            634.7937528982764,
+            20.250235628494863
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -1876.5382285310122,
+            634.7937528982764,
+            17.250235628494863
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -1876.5382285310122,
+            634.7937528982764,
+            14.250235628494863
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -1876.5382285310122,
+            634.7937528982764,
+            11.250235628494863
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -1876.5382285310122,
+            634.7937528982764,
+            8.250235628494863
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -1876.5382285310122,
+            634.7937528982764,
+            5.250235628494863
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -1876.5382285310122,
+            634.7937528982764,
+            2.2502356284948632
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "dark",
+        "feature": "broken windows",
+        "position": [
+            -1843.4432800000002,
+            647.95402,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "high-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_9-49-8_1061730690/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_9-49-8_1061730690/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..693b71cf8c5adc41d083d7baa46278179a3a1164
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-15_9-49-8_1061730690/pose.jsonl
@@ -0,0 +1,444 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            640.0987744848187,
+            1557.2411556873228,
+            2.848061136471486
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            640.0987744848187,
+            1557.2411556873228,
+            5.848061136471486
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            640.0987744848187,
+            1557.2411556873228,
+            8.848061136471486
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            640.0987744848187,
+            1557.2411556873228,
+            11.848061136471486
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            640.0987744848187,
+            1557.2411556873228,
+            14.848061136471486
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            640.0987744848187,
+            1557.2411556873228,
+            17.848061136471486
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            640.0987744848187,
+            1557.2411556873228,
+            20.848061136471486
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            640.0987744848187,
+            1557.2411556873228,
+            23.848061136471486
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            640.0987744848187,
+            1557.2411556873228,
+            26.848061136471486
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            640.0987744848187,
+            1557.2411556873228,
+            29.848061136471486
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            640.0987744848187,
+            1557.2411556873228,
+            32.848061136471486
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            640.0987744848187,
+            1557.2411556873228,
+            35.848061136471486
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            640.0987744848187,
+            1557.2411556873228,
+            38.848061136471486
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            640.0987744848187,
+            1557.2411556873228,
+            41.848061136471486
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            640.0987744848187,
+            1557.2411556873228,
+            44.848061136471486
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            640.0987744848187,
+            1557.2411556873228,
+            47.848061136471486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            641.5987744848187,
+            1559.8392318986762,
+            47.848061136471486
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            643.0987744848187,
+            1562.4373081100296,
+            47.848061136471486
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            643.0987744848187,
+            1562.4373081100296,
+            44.848061136471486
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            643.0987744848187,
+            1562.4373081100296,
+            41.848061136471486
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            643.0987744848187,
+            1562.4373081100296,
+            38.848061136471486
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            643.0987744848187,
+            1562.4373081100296,
+            35.848061136471486
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            643.0987744848187,
+            1562.4373081100296,
+            32.848061136471486
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            643.0987744848187,
+            1562.4373081100296,
+            29.848061136471486
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            643.0987744848187,
+            1562.4373081100296,
+            26.848061136471486
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            643.0987744848187,
+            1562.4373081100296,
+            23.848061136471486
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            643.0987744848187,
+            1562.4373081100296,
+            20.848061136471486
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            643.0987744848187,
+            1562.4373081100296,
+            17.848061136471486
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            643.0987744848187,
+            1562.4373081100296,
+            14.848061136471486
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            643.0987744848187,
+            1562.4373081100296,
+            11.848061136471486
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            643.0987744848187,
+            1562.4373081100296,
+            8.848061136471486
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            643.0987744848187,
+            1562.4373081100296,
+            5.848061136471486
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            643.0987744848187,
+            1562.4373081100296,
+            2.848061136471486
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "tan",
+        "feature": "arched windows",
+        "position": [
+            662.4801600000001,
+            1631.4195300000001,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_0-44-44_2067062760/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_0-44-44_2067062760/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c195481927220b97dd09d4591cbccc548289beea
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_0-44-44_2067062760/pose.jsonl
@@ -0,0 +1,470 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1968.338997028294,
+            1734.1344560243344,
+            0.6904579048794375
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1968.338997028294,
+            1734.1344560243344,
+            3.6904579048794375
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1968.338997028294,
+            1734.1344560243344,
+            6.6904579048794375
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1968.338997028294,
+            1734.1344560243344,
+            9.690457904879437
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1968.338997028294,
+            1734.1344560243344,
+            12.690457904879437
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1968.338997028294,
+            1734.1344560243344,
+            15.690457904879437
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1968.338997028294,
+            1734.1344560243344,
+            18.690457904879437
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1968.338997028294,
+            1734.1344560243344,
+            21.690457904879437
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1968.338997028294,
+            1734.1344560243344,
+            24.690457904879437
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1968.338997028294,
+            1734.1344560243344,
+            27.690457904879437
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1968.338997028294,
+            1734.1344560243344,
+            30.690457904879437
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1968.338997028294,
+            1734.1344560243344,
+            33.69045790487944
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1968.338997028294,
+            1734.1344560243344,
+            36.69045790487944
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1968.338997028294,
+            1734.1344560243344,
+            39.69045790487944
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1968.338997028294,
+            1734.1344560243344,
+            42.69045790487944
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1968.338997028294,
+            1734.1344560243344,
+            45.69045790487944
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1968.338997028294,
+            1734.1344560243344,
+            48.69045790487944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1968.338997028294,
+            1731.1344560243344,
+            48.69045790487944
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1968.338997028294,
+            1728.1344560243344,
+            48.69045790487944
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1968.338997028294,
+            1728.1344560243344,
+            45.69045790487944
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1968.338997028294,
+            1728.1344560243344,
+            42.69045790487944
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1968.338997028294,
+            1728.1344560243344,
+            39.69045790487944
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1968.338997028294,
+            1728.1344560243344,
+            36.69045790487944
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1968.338997028294,
+            1728.1344560243344,
+            33.69045790487944
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1968.338997028294,
+            1728.1344560243344,
+            30.690457904879437
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1968.338997028294,
+            1728.1344560243344,
+            27.690457904879437
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1968.338997028294,
+            1728.1344560243344,
+            24.690457904879437
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1968.338997028294,
+            1728.1344560243344,
+            21.690457904879437
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1968.338997028294,
+            1728.1344560243344,
+            18.690457904879437
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1968.338997028294,
+            1728.1344560243344,
+            15.690457904879437
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1968.338997028294,
+            1728.1344560243344,
+            12.690457904879437
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1968.338997028294,
+            1728.1344560243344,
+            9.690457904879437
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1968.338997028294,
+            1728.1344560243344,
+            6.6904579048794375
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1968.338997028294,
+            1728.1344560243344,
+            3.6904579048794375
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1968.338997028294,
+            1728.1344560243344,
+            0.6904579048794375
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "classical architecture with columns",
+        "position": [
+            -1974.90578,
+            1649.75031,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-16-20_562395735/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-16-20_562395735/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fae9ff84c7b7c42333e8138a1767cf09edcd9212
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_1-16-20_562395735/pose.jsonl
@@ -0,0 +1,470 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1989.8268806496603,
+            1713.3819641927046,
+            0.4396967917785801
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1989.8268806496603,
+            1713.3819641927046,
+            3.43969679177858
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1989.8268806496603,
+            1713.3819641927046,
+            6.43969679177858
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1989.8268806496603,
+            1713.3819641927046,
+            9.43969679177858
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1989.8268806496603,
+            1713.3819641927046,
+            12.43969679177858
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1989.8268806496603,
+            1713.3819641927046,
+            15.43969679177858
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1989.8268806496603,
+            1713.3819641927046,
+            18.43969679177858
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1989.8268806496603,
+            1713.3819641927046,
+            21.43969679177858
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1989.8268806496603,
+            1713.3819641927046,
+            24.43969679177858
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1989.8268806496603,
+            1713.3819641927046,
+            27.43969679177858
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1989.8268806496603,
+            1713.3819641927046,
+            30.43969679177858
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1989.8268806496603,
+            1713.3819641927046,
+            33.43969679177858
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1989.8268806496603,
+            1713.3819641927046,
+            36.43969679177858
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1989.8268806496603,
+            1713.3819641927046,
+            39.43969679177858
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1989.8268806496603,
+            1713.3819641927046,
+            42.43969679177858
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1989.8268806496603,
+            1710.3819641927046,
+            42.43969679177858
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1989.8268806496603,
+            1707.3819641927046,
+            42.43969679177858
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1989.8268806496603,
+            1704.3819641927046,
+            42.43969679177858
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1989.8268806496603,
+            1704.3819641927046,
+            42.43969679177858
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1988.3268806496603,
+            1701.7838879813512,
+            42.43969679177858
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1986.8268806496603,
+            1699.1858117699978,
+            42.43969679177858
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1986.8268806496603,
+            1699.1858117699978,
+            39.43969679177858
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1986.8268806496603,
+            1699.1858117699978,
+            36.43969679177858
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1986.8268806496603,
+            1699.1858117699978,
+            33.43969679177858
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1986.8268806496603,
+            1699.1858117699978,
+            30.43969679177858
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1986.8268806496603,
+            1699.1858117699978,
+            27.43969679177858
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1986.8268806496603,
+            1699.1858117699978,
+            24.43969679177858
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1986.8268806496603,
+            1699.1858117699978,
+            21.43969679177858
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1986.8268806496603,
+            1699.1858117699978,
+            18.43969679177858
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1986.8268806496603,
+            1699.1858117699978,
+            15.43969679177858
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1986.8268806496603,
+            1699.1858117699978,
+            12.43969679177858
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1986.8268806496603,
+            1699.1858117699978,
+            9.43969679177858
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1986.8268806496603,
+            1699.1858117699978,
+            6.43969679177858
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1986.8268806496603,
+            1699.1858117699978,
+            3.43969679177858
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1986.8268806496603,
+            1699.1858117699978,
+            0.4396967917785801
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "white",
+        "feature": "classical architecture with columns",
+        "position": [
+            -1974.90578,
+            1649.75031,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_2-2-54_379461075/pose.jsonl b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_2-2-54_379461075/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c183c53aa27aa7119d04c371d4345f80fbcd978a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_short_updown/2025-1-16_2-2-54_379461075/pose.jsonl
@@ -0,0 +1,483 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1085.7602119823634,
+            1648.6357663156643,
+            1.891405448319965
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1085.7602119823634,
+            1648.6357663156643,
+            4.891405448319965
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1085.7602119823634,
+            1648.6357663156643,
+            7.891405448319965
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1085.7602119823634,
+            1648.6357663156643,
+            10.891405448319965
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1085.7602119823634,
+            1648.6357663156643,
+            13.891405448319965
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1085.7602119823634,
+            1648.6357663156643,
+            16.891405448319965
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1085.7602119823634,
+            1648.6357663156643,
+            19.891405448319965
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1085.7602119823634,
+            1648.6357663156643,
+            22.891405448319965
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1085.7602119823634,
+            1648.6357663156643,
+            25.891405448319965
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1085.7602119823634,
+            1648.6357663156643,
+            28.891405448319965
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1085.7602119823634,
+            1648.6357663156643,
+            31.891405448319965
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1085.7602119823634,
+            1648.6357663156643,
+            34.891405448319965
+        ],
+        "type": "up",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1085.7602119823634,
+            1648.6357663156643,
+            37.891405448319965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1083.16213577101,
+            1650.1357663156643,
+            37.891405448319965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1080.5640595596567,
+            1651.6357663156643,
+            37.891405448319965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1077.9659833483033,
+            1653.1357663156643,
+            37.891405448319965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1075.36790713695,
+            1654.6357663156643,
+            37.891405448319965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1072.7698309255966,
+            1656.1357663156643,
+            37.891405448319965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1070.1717547142432,
+            1657.6357663156643,
+            37.891405448319965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1067.5736785028898,
+            1659.1357663156643,
+            37.891405448319965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1067.5736785028898,
+            1659.1357663156643,
+            37.891405448319965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1064.5736785028898,
+            1659.1357663156643,
+            37.891405448319965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1061.5736785028898,
+            1659.1357663156643,
+            37.891405448319965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1058.5736785028898,
+            1659.1357663156643,
+            37.891405448319965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1058.5736785028898,
+            1659.1357663156643,
+            34.891405448319965
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1058.5736785028898,
+            1659.1357663156643,
+            31.891405448319965
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1058.5736785028898,
+            1659.1357663156643,
+            28.891405448319965
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1058.5736785028898,
+            1659.1357663156643,
+            25.891405448319965
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1058.5736785028898,
+            1659.1357663156643,
+            22.891405448319965
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1058.5736785028898,
+            1659.1357663156643,
+            19.891405448319965
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1058.5736785028898,
+            1659.1357663156643,
+            16.891405448319965
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1058.5736785028898,
+            1659.1357663156643,
+            13.891405448319965
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1058.5736785028898,
+            1659.1357663156643,
+            10.891405448319965
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1058.5736785028898,
+            1659.1357663156643,
+            7.891405448319965
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1058.5736785028898,
+            1659.1357663156643,
+            4.891405448319965
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1058.5736785028898,
+            1659.1357663156643,
+            1.891405448319965
+        ],
+        "type": "down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "red",
+        "feature": "ornate facade",
+        "position": [
+            1025.47656,
+            1671.18875,
+            0.0
+        ],
+        "shape": "rectangular",
+        "dir": "center",
+        "size": "mid-rise",
+        "type": "building"
+    }
+}