diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-01-19_03-02-01_240862/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-01-19_03-02-01_240862/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0c0ab44697f57ece700d9d6534e4cf10d1bbd5e7
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-01-19_03-02-01_240862/pose.jsonl
@@ -0,0 +1,587 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1831.73957667322,
+            156.86773269444848,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1830.23957667322,
+            159.4658089058018,
+            -8.37259322125965
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1830.23957667322,
+            159.4658089058018,
+            -5.372593221259651
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1830.23957667322,
+            159.4658089058018,
+            -2.3725932212596508
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1830.23957667322,
+            159.4658089058018,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1828.73957667322,
+            162.0638851171551,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1827.23957667322,
+            164.66196132850843,
+            0.6274067787403492
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1827.23957667322,
+            164.66196132850843,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1827.23957667322,
+            167.66196132850843,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1827.23957667322,
+            170.66196132850843,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1827.23957667322,
+            173.66196132850843,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1827.23957667322,
+            176.66196132850843,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1827.23957667322,
+            179.66196132850843,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1827.23957667322,
+            182.66196132850843,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1827.23957667322,
+            185.66196132850843,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1827.23957667322,
+            188.66196132850843,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1827.23957667322,
+            191.66196132850843,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1827.23957667322,
+            194.66196132850843,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1827.23957667322,
+            197.66196132850843,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1827.23957667322,
+            200.66196132850843,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1827.23957667322,
+            203.66196132850843,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1827.23957667322,
+            206.66196132850843,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1827.23957667322,
+            209.66196132850843,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1827.23957667322,
+            212.66196132850843,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1827.23957667322,
+            215.66196132850843,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1827.23957667322,
+            218.66196132850843,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1827.23957667322,
+            221.66196132850843,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1827.23957667322,
+            224.66196132850843,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1827.23957667322,
+            227.66196132850843,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1827.23957667322,
+            230.66196132850843,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1827.23957667322,
+            233.66196132850843,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1827.23957667322,
+            236.66196132850843,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1827.23957667322,
+            239.66196132850843,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1827.23957667322,
+            242.66196132850843,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1827.23957667322,
+            245.66196132850843,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1827.23957667322,
+            248.66196132850843,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1827.23957667322,
+            251.66196132850843,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1827.23957667322,
+            254.66196132850843,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1827.23957667322,
+            257.6619613285084,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1827.23957667322,
+            260.6619613285084,
+            0.6274067787403492
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1827.23957667322,
+            263.6619613285084,
+            0.6274067787403492
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1827.23957667322,
+            263.6619613285084,
+            -2.3725932212596508
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1827.23957667322,
+            263.6619613285084,
+            -5.372593221259651
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1827.23957667322,
+            263.6619613285084,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1824.0,
+            300.0,
+            -9.52448
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_17-49-11_846930886/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_17-49-11_846930886/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7abb11ac9fa6863affb16a5a02579e47e92074b0
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_17-49-11_846930886/pose.jsonl
@@ -0,0 +1,314 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1707.5165650513084,
+            389.2910856208845,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1709.0165650513084,
+            386.69300940953116,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1710.5165650513084,
+            384.09493319817784,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1712.0165650513084,
+            381.4968569868245,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1713.5165650513084,
+            378.8987807754712,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1715.0165650513084,
+            376.3007045641179,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1716.5165650513084,
+            373.7026283527646,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1718.0165650513084,
+            371.10455214141126,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1719.5165650513084,
+            368.50647593005795,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1721.0165650513084,
+            365.90839971870463,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1722.5165650513084,
+            363.3103235073513,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1724.0165650513084,
+            360.712247295998,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1725.5165650513084,
+            358.1141710846447,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1727.0165650513084,
+            355.51609487329137,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1728.5165650513084,
+            352.91801866193805,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1730.0165650513084,
+            350.31994245058473,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1731.5165650513084,
+            347.7218662392314,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1733.0165650513084,
+            345.1237900278781,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1734.5165650513084,
+            342.5257138165248,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1736.0165650513084,
+            339.92763760517147,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1737.5165650513084,
+            337.32956139381815,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1739.0165650513084,
+            334.73148518246484,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1740.5165650513084,
+            332.1334089711115,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1768.0,
+            284.0,
+            -1.77502
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_17-53-47_1365180540/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_17-53-47_1365180540/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..25301f63b3b7b8f38401a039bf6121d202f0c550
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_17-53-47_1365180540/pose.jsonl
@@ -0,0 +1,405 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1029.5485267871538,
+            902.6859293336439,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1028.0485267871538,
+            905.2840055449972,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1026.5485267871538,
+            907.8820817563505,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1025.0485267871538,
+            910.4801579677039,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1023.5485267871538,
+            913.0782341790573,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1022.0485267871538,
+            915.6763103904107,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1020.5485267871538,
+            918.274386601764,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1019.0485267871538,
+            920.8724628131174,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1017.5485267871538,
+            923.4705390244708,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1016.0485267871538,
+            926.0686152358242,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1014.5485267871538,
+            928.6666914471775,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1013.0485267871538,
+            931.2647676585309,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1011.5485267871538,
+            933.8628438698843,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1010.0485267871538,
+            936.4609200812376,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1008.5485267871538,
+            939.058996292591,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1007.0485267871538,
+            941.6570725039444,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1005.5485267871538,
+            944.2551487152978,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1004.0485267871538,
+            946.8532249266511,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1004.0485267871538,
+            946.8532249266511,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1001.4504505758005,
+            948.3532249266511,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            998.8523743644471,
+            949.8532249266511,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            996.2542981530937,
+            951.3532249266511,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            993.6562219417403,
+            952.8532249266511,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            991.058145730387,
+            954.3532249266511,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            988.4600695190336,
+            955.8532249266511,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            985.8619933076802,
+            957.3532249266511,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            983.2639170963268,
+            958.8532249266511,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            980.6658408849735,
+            960.3532249266511,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            978.0677646736201,
+            961.8532249266511,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            975.4696884622667,
+            963.3532249266511,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            952.0,
+            988.0,
+            1.64774
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_18-17-53_1264095060/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_18-17-53_1264095060/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fd03f6a39129c2c7c50178c209fe2f565e351790
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_18-17-53_1264095060/pose.jsonl
@@ -0,0 +1,353 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1721.2910448170664,
+            131.15877910384268,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1718.692968605713,
+            132.65877910384268,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1716.0948923943597,
+            134.15877910384268,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1713.4968161830063,
+            135.65877910384268,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1710.898739971653,
+            137.15877910384268,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1708.3006637602996,
+            138.65877910384268,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1705.7025875489462,
+            140.15877910384268,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1703.1045113375928,
+            141.65877910384268,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1700.5064351262395,
+            143.15877910384268,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1697.908358914886,
+            144.65877910384268,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1695.3102827035327,
+            146.15877910384268,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1692.7122064921793,
+            147.65877910384268,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1690.114130280826,
+            149.15877910384268,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1687.5160540694726,
+            150.65877910384268,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1687.5160540694726,
+            150.65877910384268,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1684.5160540694726,
+            150.65877910384268,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1681.5160540694726,
+            150.65877910384268,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1678.5160540694726,
+            150.65877910384268,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1675.5160540694726,
+            150.65877910384268,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1672.5160540694726,
+            150.65877910384268,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1669.5160540694726,
+            150.65877910384268,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1666.5160540694726,
+            150.65877910384268,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1663.5160540694726,
+            150.65877910384268,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1660.5160540694726,
+            150.65877910384268,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1657.5160540694726,
+            150.65877910384268,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1654.5160540694726,
+            150.65877910384268,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1612.0,
+            164.0,
+            123.13
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_19-0-34_1172755590/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_19-0-34_1172755590/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..667744eeaa93b99cbea918c699b00c9522991be0
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_19-0-34_1172755590/pose.jsonl
@@ -0,0 +1,353 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1196.2687406870416,
+            568.2953663433938,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1197.7687406870416,
+            565.6972901320405,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1199.2687406870416,
+            563.0992139206871,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1200.7687406870416,
+            560.5011377093338,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1202.2687406870416,
+            557.9030614979804,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1203.7687406870416,
+            555.304985286627,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1205.2687406870416,
+            552.7069090752736,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1206.7687406870416,
+            550.1088328639203,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1208.2687406870416,
+            547.5107566525669,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1209.7687406870416,
+            544.9126804412135,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1211.2687406870416,
+            542.3146042298602,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1212.7687406870416,
+            539.7165280185068,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1214.2687406870416,
+            537.1184518071534,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1215.7687406870416,
+            534.5203755958,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1217.2687406870416,
+            531.9222993844467,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1218.7687406870416,
+            529.3242231730933,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1218.7687406870416,
+            529.3242231730933,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1218.7687406870416,
+            526.3242231730933,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1218.7687406870416,
+            523.3242231730933,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1218.7687406870416,
+            520.3242231730933,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1218.7687406870416,
+            517.3242231730933,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1218.7687406870416,
+            514.3242231730933,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1218.7687406870416,
+            511.3242231730933,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1218.7687406870416,
+            508.3242231730933,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1218.7687406870416,
+            505.3242231730933,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1218.7687406870416,
+            502.3242231730933,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1236.0,
+            456.0,
+            148.475
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_19-21-38_824272813/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_19-21-38_824272813/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2a61b9c196f9c39f8a9cb5f8893889575d9d1150
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_19-21-38_824272813/pose.jsonl
@@ -0,0 +1,67 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1988.4322708367376,
+            514.9025443654666,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1988.4322708367376,
+            511.9025443654666,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1988.4322708367376,
+            508.9025443654666,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1988.4322708367376,
+            505.9025443654666,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            2004.0,
+            400.0,
+            26.235
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_20-46-41_959372260/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_20-46-41_959372260/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6e396243529878183effb0e25d9163caa7f6ef62
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_20-46-41_959372260/pose.jsonl
@@ -0,0 +1,431 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1486.5818534202847,
+            590.1628120728492,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1485.0818534202847,
+            587.5647358614958,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1483.5818534202847,
+            584.9666596501424,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1482.0818534202847,
+            582.3685834387891,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1480.5818534202847,
+            579.7705072274357,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1479.0818534202847,
+            577.1724310160823,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1477.5818534202847,
+            574.574354804729,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1476.0818534202847,
+            571.9762785933756,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1474.5818534202847,
+            569.3782023820222,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1473.0818534202847,
+            566.7801261706688,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1471.5818534202847,
+            564.1820499593155,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1470.0818534202847,
+            561.5839737479621,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1468.5818534202847,
+            558.9858975366087,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1467.0818534202847,
+            556.3878213252553,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1465.5818534202847,
+            553.789745113902,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1464.0818534202847,
+            551.1916689025486,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1462.5818534202847,
+            548.5935926911952,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1461.0818534202847,
+            545.9955164798419,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1459.5818534202847,
+            543.3974402684885,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1458.0818534202847,
+            540.7993640571351,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1456.5818534202847,
+            538.2012878457817,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1455.0818534202847,
+            535.6032116344284,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1453.5818534202847,
+            533.005135423075,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1452.0818534202847,
+            530.4070592117216,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1450.5818534202847,
+            527.8089830003682,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1449.0818534202847,
+            525.2109067890149,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1447.5818534202847,
+            522.6128305776615,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1446.0818534202847,
+            520.0147543663081,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1444.5818534202847,
+            517.4166781549548,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1444.5818534202847,
+            517.4166781549548,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1441.9837772089313,
+            515.9166781549548,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1439.385700997578,
+            514.4166781549548,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1420.0,
+            484.0,
+            -10.4725
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_21-42-28_746349250/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_21-42-28_746349250/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3544b67c9e2f2662cedab58206ee28596aee2051
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_21-42-28_746349250/pose.jsonl
@@ -0,0 +1,392 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            603.9846801412883,
+            -32.2645680188342,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            602.4846801412883,
+            -29.66649180748088,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            600.9846801412883,
+            -27.068415596127565,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            599.4846801412883,
+            -24.47033938477425,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            597.9846801412883,
+            -21.872263173420933,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            596.4846801412883,
+            -19.274186962067617,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            594.9846801412883,
+            -16.6761107507143,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            593.4846801412883,
+            -14.078034539360985,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            591.9846801412883,
+            -11.479958328007669,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            590.4846801412883,
+            -8.881882116654353,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            588.9846801412883,
+            -6.283805905301037,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            587.4846801412883,
+            -3.685729693947721,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            585.9846801412883,
+            -1.0876534825944049,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            584.4846801412883,
+            1.5104227287589111,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            582.9846801412883,
+            4.108498940112227,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            581.4846801412883,
+            6.706575151465543,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            579.9846801412883,
+            9.30465136281886,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            578.4846801412883,
+            11.902727574172175,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            576.9846801412883,
+            14.500803785525491,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            575.4846801412883,
+            17.098879996878807,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            573.9846801412883,
+            19.696956208232123,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            572.4846801412883,
+            22.29503241958544,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            570.9846801412883,
+            24.893108630938755,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            569.4846801412883,
+            27.49118484229207,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            567.9846801412883,
+            30.089261053645387,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            566.4846801412883,
+            32.6873372649987,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            566.4846801412883,
+            32.6873372649987,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            566.4846801412883,
+            35.6873372649987,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            566.4846801412883,
+            38.6873372649987,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            556.0,
+            64.0,
+            -1.13261
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_21-57-49_1982945082/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_21-57-49_1982945082/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4819d40a77e8c9eaad13b4461480fe5831433767
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_21-57-49_1982945082/pose.jsonl
@@ -0,0 +1,561 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1339.4811692850083,
+            754.7498641912798,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1336.883093073655,
+            756.2498641912798,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1334.2850168623015,
+            757.7498641912798,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1331.6869406509481,
+            759.2498641912798,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1329.0888644395948,
+            760.7498641912798,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1326.4907882282414,
+            762.2498641912798,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1323.892712016888,
+            763.7498641912798,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1321.2946358055347,
+            765.2498641912798,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1318.6965595941813,
+            766.7498641912798,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1316.098483382828,
+            768.2498641912798,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1313.5004071714745,
+            769.7498641912798,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1310.9023309601212,
+            771.2498641912798,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1308.3042547487678,
+            772.7498641912798,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1305.7061785374144,
+            774.2498641912798,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1303.108102326061,
+            775.7498641912798,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1300.5100261147077,
+            777.2498641912798,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1297.9119499033543,
+            778.7498641912798,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1295.313873692001,
+            780.2498641912798,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1292.7157974806476,
+            781.7498641912798,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1290.1177212692942,
+            783.2498641912798,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1287.5196450579408,
+            784.7498641912798,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1284.9215688465874,
+            786.2498641912798,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1282.323492635234,
+            787.7498641912798,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1279.7254164238807,
+            789.2498641912798,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1277.1273402125273,
+            790.7498641912798,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1274.529264001174,
+            792.2498641912798,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1271.9311877898206,
+            793.7498641912798,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1269.3331115784672,
+            795.2498641912798,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1266.7350353671138,
+            796.7498641912798,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1264.1369591557605,
+            798.2498641912798,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1261.538882944407,
+            799.7498641912798,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1258.9408067330537,
+            801.2498641912798,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1256.3427305217003,
+            802.7498641912798,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1253.744654310347,
+            804.2498641912798,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1251.1465780989936,
+            805.7498641912798,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1248.5485018876402,
+            807.2498641912798,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1248.5485018876402,
+            807.2498641912798,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1245.5485018876402,
+            807.2498641912798,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1242.5485018876402,
+            807.2498641912798,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1239.5485018876402,
+            807.2498641912798,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1236.5485018876402,
+            807.2498641912798,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1233.5485018876402,
+            807.2498641912798,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1208.0,
+            820.0,
+            17.114
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_21-6-58_371653516/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_21-6-58_371653516/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6d3e4d124361f0ef0daa43737be9387f9cc1eeaf
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_21-6-58_371653516/pose.jsonl
@@ -0,0 +1,379 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1452.8940550955813,
+            582.476722584834,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1451.3940550955813,
+            579.8786463734807,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1449.8940550955813,
+            577.2805701621273,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1448.3940550955813,
+            574.682493950774,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1446.8940550955813,
+            572.0844177394206,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1445.3940550955813,
+            569.4863415280672,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1443.8940550955813,
+            566.8882653167138,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1442.3940550955813,
+            564.2901891053605,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1440.8940550955813,
+            561.6921128940071,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1439.3940550955813,
+            559.0940366826537,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1437.8940550955813,
+            556.4959604713004,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1436.3940550955813,
+            553.897884259947,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1434.8940550955813,
+            551.2998080485936,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1433.3940550955813,
+            548.7017318372402,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1431.8940550955813,
+            546.1036556258869,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1430.3940550955813,
+            543.5055794145335,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1428.8940550955813,
+            540.9075032031801,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1427.3940550955813,
+            538.3094269918267,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1427.3940550955813,
+            538.3094269918267,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1427.3940550955813,
+            535.3094269918267,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1427.3940550955813,
+            532.3094269918267,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1427.3940550955813,
+            529.3094269918267,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1427.3940550955813,
+            526.3094269918267,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1427.3940550955813,
+            523.3094269918267,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1427.3940550955813,
+            520.3094269918267,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1427.3940550955813,
+            517.3094269918267,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1427.3940550955813,
+            514.3094269918267,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1427.3940550955813,
+            511.30942699182674,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1420.0,
+            484.0,
+            -10.4725
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_21-7-14_962033002/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_21-7-14_962033002/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..488522944200b1278d577a26da04c6aa14760c37
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_21-7-14_962033002/pose.jsonl
@@ -0,0 +1,431 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1061.2864889275534,
+            769.4754236526492,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1058.6884127162,
+            770.9754236526492,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1056.0903365048466,
+            772.4754236526492,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1053.4922602934932,
+            773.9754236526492,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1050.8941840821399,
+            775.4754236526492,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1048.2961078707865,
+            776.9754236526492,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1045.6980316594331,
+            778.4754236526492,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1043.0999554480798,
+            779.9754236526492,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1040.5018792367264,
+            781.4754236526492,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1037.903803025373,
+            782.9754236526492,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1035.3057268140196,
+            784.4754236526492,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1032.7076506026663,
+            785.9754236526492,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1030.109574391313,
+            787.4754236526492,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1027.5114981799595,
+            788.9754236526492,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1024.9134219686061,
+            790.4754236526492,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1022.3153457572528,
+            791.9754236526492,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1022.3153457572528,
+            791.9754236526492,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1019.3153457572528,
+            791.9754236526492,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1016.3153457572528,
+            791.9754236526492,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1013.3153457572528,
+            791.9754236526492,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1010.3153457572528,
+            791.9754236526492,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1007.3153457572528,
+            791.9754236526492,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1004.3153457572528,
+            791.9754236526492,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1001.3153457572528,
+            791.9754236526492,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            998.3153457572528,
+            791.9754236526492,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            995.3153457572528,
+            791.9754236526492,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            992.3153457572528,
+            791.9754236526492,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            989.3153457572528,
+            791.9754236526492,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            986.3153457572528,
+            791.9754236526492,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            983.3153457572528,
+            791.9754236526492,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            980.3153457572528,
+            791.9754236526492,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            977.3153457572528,
+            791.9754236526492,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            952.0,
+            800.0,
+            0.299606
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_22-39-0_1088590930/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_22-39-0_1088590930/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7ef0cce6e877b0c1ce4199e7da27ea956cd16962
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_22-39-0_1088590930/pose.jsonl
@@ -0,0 +1,327 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -4.73655762384487,
+            -473.7180193781758,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -4.73655762384487,
+            -470.7180193781758,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -4.73655762384487,
+            -467.7180193781758,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -4.73655762384487,
+            -464.7180193781758,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -4.73655762384487,
+            -461.7180193781758,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -4.73655762384487,
+            -458.7180193781758,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -4.73655762384487,
+            -455.7180193781758,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -4.73655762384487,
+            -452.7180193781758,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -4.73655762384487,
+            -449.7180193781758,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -4.73655762384487,
+            -446.7180193781758,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -4.73655762384487,
+            -443.7180193781758,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -4.73655762384487,
+            -440.7180193781758,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -4.73655762384487,
+            -437.7180193781758,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -4.73655762384487,
+            -434.7180193781758,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -4.73655762384487,
+            -431.7180193781758,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -4.73655762384487,
+            -431.7180193781758,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -3.23655762384487,
+            -429.1199431668225,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1.7365576238448694,
+            -426.5218669554692,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -0.236557623844869,
+            -423.9237907441159,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1.2634423761551314,
+            -421.32571453276256,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            2.763442376155132,
+            -418.72763832140924,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            4.263442376155132,
+            -416.12956211005593,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            5.763442376155133,
+            -413.5314858987026,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965974
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            7.263442376155133,
+            -410.9334096873493,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965974
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            12.0,
+            -368.0,
+            -0.096958
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_22-7-34_207621703/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_22-7-34_207621703/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b2913192c7f7ebc37bb7cfee42c122e8d9e8a37c
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_22-7-34_207621703/pose.jsonl
@@ -0,0 +1,301 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            666.3192181544929,
+            65.76074686549921,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            667.8192181544929,
+            63.1626706541459,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            669.3192181544929,
+            60.56459444279258,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            670.8192181544929,
+            57.96651823143927,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            672.3192181544929,
+            55.36844202008595,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            673.8192181544929,
+            52.770365808732635,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            675.3192181544929,
+            50.17228959737932,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            676.8192181544929,
+            47.574213386026,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            678.3192181544929,
+            44.97613717467269,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            679.8192181544929,
+            42.37806096331937,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            681.3192181544929,
+            39.779984751966055,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            682.8192181544929,
+            37.18190854061274,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            684.3192181544929,
+            34.58383232925942,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            684.3192181544929,
+            34.58383232925942,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            684.3192181544929,
+            31.583832329259423,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            684.3192181544929,
+            28.583832329259423,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            684.3192181544929,
+            25.583832329259423,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            684.3192181544929,
+            22.583832329259423,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            684.3192181544929,
+            19.583832329259423,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            684.3192181544929,
+            16.583832329259423,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            684.3192181544929,
+            13.583832329259423,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            684.3192181544929,
+            10.583832329259423,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            708.0,
+            -68.0,
+            2.61985
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-9_0-2-18_1124734562/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_0-2-18_1124734562/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..20c913751d173f5102d1ad9c84ed84f5f7afe062
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_0-2-18_1124734562/pose.jsonl
@@ -0,0 +1,587 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            670.6673056551682,
+            -225.3371613551193,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            673.6673056551682,
+            -225.3371613551193,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            676.6673056551682,
+            -225.3371613551193,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            679.6673056551682,
+            -225.3371613551193,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            682.6673056551682,
+            -225.3371613551193,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            685.6673056551682,
+            -225.3371613551193,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            688.6673056551682,
+            -225.3371613551193,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            691.6673056551682,
+            -225.3371613551193,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            694.6673056551682,
+            -225.3371613551193,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            697.6673056551682,
+            -225.3371613551193,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            700.6673056551682,
+            -225.3371613551193,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            703.6673056551682,
+            -225.3371613551193,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            706.6673056551682,
+            -225.3371613551193,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            709.6673056551682,
+            -225.3371613551193,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            712.6673056551682,
+            -225.3371613551193,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            715.6673056551682,
+            -225.3371613551193,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            718.6673056551682,
+            -225.3371613551193,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            721.6673056551682,
+            -225.3371613551193,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            724.6673056551682,
+            -225.3371613551193,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            724.6673056551682,
+            -225.3371613551193,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            727.2653818665215,
+            -226.8371613551193,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            729.8634580778748,
+            -228.3371613551193,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            732.4615342892282,
+            -229.8371613551193,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            735.0596105005816,
+            -231.3371613551193,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            737.657686711935,
+            -232.8371613551193,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            740.2557629232883,
+            -234.3371613551193,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            742.8538391346417,
+            -235.8371613551193,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            745.4519153459951,
+            -237.3371613551193,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            748.0499915573484,
+            -238.8371613551193,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            750.6480677687018,
+            -240.3371613551193,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            753.2461439800552,
+            -241.8371613551193,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            755.8442201914086,
+            -243.3371613551193,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            758.4422964027619,
+            -244.8371613551193,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            761.0403726141153,
+            -246.3371613551193,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            763.6384488254687,
+            -247.8371613551193,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            766.2365250368221,
+            -249.3371613551193,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            768.8346012481754,
+            -250.8371613551193,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            771.4326774595288,
+            -252.3371613551193,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            774.0307536708822,
+            -253.8371613551193,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            776.6288298822356,
+            -255.3371613551193,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            779.2269060935889,
+            -256.8371613551193,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            781.8249823049423,
+            -258.3371613551193,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            784.4230585162957,
+            -259.8371613551193,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            787.021134727649,
+            -261.3371613551193,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            808.0,
+            -268.0,
+            5.86358
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-9_0-21-43_67874133/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_0-21-43_67874133/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0dd0d67b945a00eb1a50ad2a9b5937b772afbad0
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_0-21-43_67874133/pose.jsonl
@@ -0,0 +1,249 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            910.977973116376,
+            601.635631225349,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            912.477973116376,
+            599.0375550139956,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            913.977973116376,
+            596.4394788026423,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            915.477973116376,
+            593.8414025912889,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            916.977973116376,
+            591.2433263799355,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            918.477973116376,
+            588.6452501685822,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            919.977973116376,
+            586.0471739572288,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            921.477973116376,
+            583.4490977458754,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            921.477973116376,
+            583.4490977458754,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            921.477973116376,
+            580.4490977458754,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            921.477973116376,
+            577.4490977458754,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            921.477973116376,
+            574.4490977458754,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            921.477973116376,
+            571.4490977458754,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            921.477973116376,
+            568.4490977458754,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            921.477973116376,
+            565.4490977458754,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            921.477973116376,
+            562.4490977458754,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            921.477973116376,
+            559.4490977458754,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            921.477973116376,
+            556.4490977458754,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            948.0,
+            464.0,
+            139.324
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-9_0-9-40_1403938270/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_0-9-40_1403938270/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d6dd19e8f88badbf91d0562507403fc68496f0b3
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_0-9-40_1403938270/pose.jsonl
@@ -0,0 +1,470 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            679.4891849459916,
+            504.14518171167845,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            679.4891849459916,
+            501.14518171167845,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            679.4891849459916,
+            498.14518171167845,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            679.4891849459916,
+            495.14518171167845,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            679.4891849459916,
+            492.14518171167845,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            679.4891849459916,
+            489.14518171167845,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            679.4891849459916,
+            486.14518171167845,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            679.4891849459916,
+            483.14518171167845,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            679.4891849459916,
+            480.14518171167845,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            679.4891849459916,
+            477.14518171167845,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            679.4891849459916,
+            474.14518171167845,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            679.4891849459916,
+            471.14518171167845,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            679.4891849459916,
+            468.14518171167845,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            679.4891849459916,
+            465.14518171167845,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            679.4891849459916,
+            462.14518171167845,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            679.4891849459916,
+            459.14518171167845,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            679.4891849459916,
+            456.14518171167845,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            679.4891849459916,
+            453.14518171167845,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            679.4891849459916,
+            450.14518171167845,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            679.4891849459916,
+            447.14518171167845,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            679.4891849459916,
+            444.14518171167845,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            679.4891849459916,
+            441.14518171167845,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            679.4891849459916,
+            438.14518171167845,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            679.4891849459916,
+            435.14518171167845,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            679.4891849459916,
+            432.14518171167845,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            679.4891849459916,
+            429.14518171167845,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            679.4891849459916,
+            429.14518171167845,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            679.4891849459916,
+            429.14518171167845,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982989
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            682.087261157345,
+            427.64518171167845,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            684.6853373686984,
+            426.14518171167845,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            687.2834135800517,
+            424.64518171167845,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            689.8814897914051,
+            423.14518171167845,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            689.8814897914051,
+            423.14518171167845,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            691.3814897914051,
+            420.54710550032513,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            692.8814897914051,
+            417.9490292889718,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            696.0,
+            400.0,
+            -0.375042
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-9_1-23-42_1154615609/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_1-23-42_1154615609/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bfa704a4de18aa648297d8225c4aa304ef338b6d
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_1-23-42_1154615609/pose.jsonl
@@ -0,0 +1,639 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            816.6287872371561,
+            783.2080547248756,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            816.6287872371561,
+            780.2080547248756,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            816.6287872371561,
+            777.2080547248756,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            816.6287872371561,
+            774.2080547248756,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            816.6287872371561,
+            771.2080547248756,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            816.6287872371561,
+            768.2080547248756,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            816.6287872371561,
+            765.2080547248756,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            816.6287872371561,
+            762.2080547248756,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            816.6287872371561,
+            759.2080547248756,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            816.6287872371561,
+            756.2080547248756,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            816.6287872371561,
+            753.2080547248756,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            816.6287872371561,
+            750.2080547248756,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            816.6287872371561,
+            747.2080547248756,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            816.6287872371561,
+            744.2080547248756,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            816.6287872371561,
+            741.2080547248756,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            816.6287872371561,
+            738.2080547248756,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            816.6287872371561,
+            735.2080547248756,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            816.6287872371561,
+            732.2080547248756,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            816.6287872371561,
+            729.2080547248756,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            816.6287872371561,
+            726.2080547248756,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            816.6287872371561,
+            723.2080547248756,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            816.6287872371561,
+            720.2080547248756,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            816.6287872371561,
+            717.2080547248756,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            816.6287872371561,
+            714.2080547248756,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            816.6287872371561,
+            711.2080547248756,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            816.6287872371561,
+            708.2080547248756,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            816.6287872371561,
+            705.2080547248756,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            816.6287872371561,
+            702.2080547248756,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            816.6287872371561,
+            699.2080547248756,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            816.6287872371561,
+            696.2080547248756,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            816.6287872371561,
+            693.2080547248756,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            816.6287872371561,
+            690.2080547248756,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            816.6287872371561,
+            687.2080547248756,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            816.6287872371561,
+            684.2080547248756,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            816.6287872371561,
+            681.2080547248756,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            816.6287872371561,
+            678.2080547248756,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            816.6287872371561,
+            675.2080547248756,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            816.6287872371561,
+            672.2080547248756,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            816.6287872371561,
+            672.2080547248756,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            816.6287872371561,
+            672.2080547248756,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982989
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            819.2268634485094,
+            670.7080547248756,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            821.8249396598628,
+            669.2080547248756,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            824.4230158712162,
+            667.7080547248756,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            827.0210920825696,
+            666.2080547248756,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            829.6191682939229,
+            664.7080547248756,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            829.6191682939229,
+            664.7080547248756,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            831.1191682939229,
+            662.1099785135223,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            832.6191682939229,
+            659.5119023021689,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            836.0,
+            640.0,
+            1.62652
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-9_1-30-46_234262547/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_1-30-46_234262547/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cd757932e3f2ad3a61f48122676ae86c87d332ed
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_1-30-46_234262547/pose.jsonl
@@ -0,0 +1,457 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1041.6143736293764,
+            786.0809176234108,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1043.1143736293764,
+            788.678993834764,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1044.6143736293764,
+            791.2770700461174,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1046.1143736293764,
+            793.8751462574708,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1047.6143736293764,
+            796.4732224688241,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1049.1143736293764,
+            799.0712986801775,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1050.6143736293764,
+            801.6693748915309,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1052.1143736293764,
+            804.2674511028843,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1053.6143736293764,
+            806.8655273142376,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1055.1143736293764,
+            809.463603525591,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1056.6143736293764,
+            812.0616797369444,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1058.1143736293764,
+            814.6597559482977,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1059.6143736293764,
+            817.2578321596511,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1061.1143736293764,
+            819.8559083710045,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1062.6143736293764,
+            822.4539845823579,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1064.1143736293764,
+            825.0520607937112,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1065.6143736293764,
+            827.6501370050646,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1067.1143736293764,
+            830.248213216418,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1068.6143736293764,
+            832.8462894277714,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1070.1143736293764,
+            835.4443656391247,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1071.6143736293764,
+            838.0424418504781,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1073.1143736293764,
+            840.6405180618315,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1074.6143736293764,
+            843.2385942731848,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1076.1143736293764,
+            845.8366704845382,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1077.6143736293764,
+            848.4347466958916,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1079.1143736293764,
+            851.032822907245,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1080.6143736293764,
+            853.6308991185983,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1082.1143736293764,
+            856.2289753299517,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1083.6143736293764,
+            858.8270515413051,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1085.1143736293764,
+            861.4251277526585,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1085.1143736293764,
+            861.4251277526585,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1085.1143736293764,
+            864.4251277526585,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1085.1143736293764,
+            867.4251277526585,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1085.1143736293764,
+            870.4251277526585,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1096.0,
+            896.0,
+            34.2564
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-9_1-45-5_570840516/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_1-45-5_570840516/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..043a3bc2f20e98a1a6b0deba1addfadcb02641c6
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_1-45-5_570840516/pose.jsonl
@@ -0,0 +1,730 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1895.7234797895278,
+            306.83665686035556,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1898.7234797895278,
+            306.83665686035556,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1901.7234797895278,
+            306.83665686035556,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1904.7234797895278,
+            306.83665686035556,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1907.7234797895278,
+            306.83665686035556,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1910.7234797895278,
+            306.83665686035556,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1913.7234797895278,
+            306.83665686035556,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1916.7234797895278,
+            306.83665686035556,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1919.7234797895278,
+            306.83665686035556,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1922.7234797895278,
+            306.83665686035556,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1925.7234797895278,
+            306.83665686035556,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1925.7234797895278,
+            306.83665686035556,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1925.7234797895278,
+            306.83665686035556,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1927.2234797895278,
+            309.4347330717089,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1927.2234797895278,
+            309.4347330717089,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1929.8215560008812,
+            310.9347330717089,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1932.4196322122345,
+            312.4347330717089,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1935.017708423588,
+            313.9347330717089,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1937.6157846349413,
+            315.4347330717089,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1940.2138608462947,
+            316.9347330717089,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1942.811937057648,
+            318.4347330717089,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1945.4100132690014,
+            319.9347330717089,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1945.4100132690014,
+            319.9347330717089,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1946.9100132690014,
+            322.5328092830622,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1948.4100132690014,
+            325.1308854944155,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1949.9100132690014,
+            327.7289617057688,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1951.4100132690014,
+            330.32703791712214,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1952.9100132690014,
+            332.92511412847546,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1954.4100132690014,
+            335.5231903398288,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1955.9100132690014,
+            338.1212665511821,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1957.4100132690014,
+            340.7193427625354,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1958.9100132690014,
+            343.3174189738887,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1960.4100132690014,
+            345.91549518524204,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1961.9100132690014,
+            348.51357139659535,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1961.9100132690014,
+            348.51357139659535,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1961.9100132690014,
+            351.51357139659535,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1961.9100132690014,
+            354.51357139659535,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1961.9100132690014,
+            357.51357139659535,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1961.9100132690014,
+            360.51357139659535,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1961.9100132690014,
+            363.51357139659535,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1961.9100132690014,
+            363.51357139659535,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1961.9100132690014,
+            363.51357139659535,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982989
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1964.5080894803548,
+            365.01357139659535,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1967.1061656917082,
+            366.51357139659535,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1969.7042419030615,
+            368.01357139659535,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1972.302318114415,
+            369.51357139659535,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1974.9003943257683,
+            371.01357139659535,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1977.4984705371216,
+            372.51357139659535,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1980.096546748475,
+            374.01357139659535,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1982.6946229598284,
+            375.51357139659535,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            1985.2926991711818,
+            377.01357139659535,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            1985.2926991711818,
+            377.01357139659535,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            1986.7926991711818,
+            379.61164760794867,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            1988.2926991711818,
+            382.209723819302,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            1989.7926991711818,
+            384.8078000306553,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            2004.0,
+            400.0,
+            26.235
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-9_2-22-59_918483162/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_2-22-59_918483162/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4ddc8c5e8ff160e11ee4040e7db543dbb692ff80
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_2-22-59_918483162/pose.jsonl
@@ -0,0 +1,444 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -182.79761767107692,
+            -313.2748702144338,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -180.1995414597236,
+            -314.7748702144338,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -177.6014652483703,
+            -316.2748702144338,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -175.00338903701697,
+            -317.7748702144338,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -172.40531282566366,
+            -319.2748702144338,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -169.80723661431034,
+            -320.7748702144338,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -167.20916040295702,
+            -322.2748702144338,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -164.6110841916037,
+            -323.7748702144338,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -162.0130079802504,
+            -325.2748702144338,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -159.41493176889708,
+            -326.7748702144338,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -156.81685555754376,
+            -328.2748702144338,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -154.21877934619044,
+            -329.7748702144338,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -151.62070313483713,
+            -331.2748702144338,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -149.0226269234838,
+            -332.7748702144338,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -146.4245507121305,
+            -334.2748702144338,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -143.82647450077718,
+            -335.7748702144338,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -141.22839828942386,
+            -337.2748702144338,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -138.63032207807055,
+            -338.7748702144338,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -136.03224586671723,
+            -340.2748702144338,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -133.43416965536392,
+            -341.7748702144338,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -130.8360934440106,
+            -343.2748702144338,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -128.23801723265728,
+            -344.7748702144338,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -125.63994102130397,
+            -346.2748702144338,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -123.04186480995065,
+            -347.7748702144338,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -120.44378859859734,
+            -349.2748702144338,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -117.84571238724402,
+            -350.7748702144338,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -115.2476361758907,
+            -352.2748702144338,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -112.64955996453739,
+            -353.7748702144338,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -112.64955996453739,
+            -353.7748702144338,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -111.14955996453739,
+            -356.3729464257871,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -109.64955996453739,
+            -358.97102263714044,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -108.14955996453739,
+            -361.56909884849375,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -106.64955996453739,
+            -364.16717505984707,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -88.0,
+            -380.0,
+            -1.13129
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-9_3-2-20_1705632563/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_3-2-20_1705632563/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4b0f947006bc13eb62261e8cef4792d48e0f968d
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_3-2-20_1705632563/pose.jsonl
@@ -0,0 +1,509 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            441.89327809276665,
+            87.69172968555954,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            444.89327809276665,
+            87.69172968555954,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            447.89327809276665,
+            87.69172968555954,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            450.89327809276665,
+            87.69172968555954,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            453.89327809276665,
+            87.69172968555954,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            456.89327809276665,
+            87.69172968555954,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            459.89327809276665,
+            87.69172968555954,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            462.89327809276665,
+            87.69172968555954,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            465.89327809276665,
+            87.69172968555954,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            468.89327809276665,
+            87.69172968555954,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            471.89327809276665,
+            87.69172968555954,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            474.89327809276665,
+            87.69172968555954,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            477.89327809276665,
+            87.69172968555954,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            480.89327809276665,
+            87.69172968555954,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            483.89327809276665,
+            87.69172968555954,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            486.89327809276665,
+            87.69172968555954,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            489.89327809276665,
+            87.69172968555954,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            492.89327809276665,
+            87.69172968555954,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            495.89327809276665,
+            87.69172968555954,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            498.89327809276665,
+            87.69172968555954,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            501.89327809276665,
+            87.69172968555954,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            504.89327809276665,
+            87.69172968555954,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            507.89327809276665,
+            87.69172968555954,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            510.89327809276665,
+            87.69172968555954,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            513.8932780927666,
+            87.69172968555954,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            516.8932780927666,
+            87.69172968555954,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            519.8932780927666,
+            87.69172968555954,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            519.8932780927666,
+            87.69172968555954,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            522.49135430412,
+            86.19172968555954,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            525.0894305154734,
+            84.69172968555954,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            527.6875067268268,
+            83.19172968555954,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            530.2855829381801,
+            81.69172968555954,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            532.8836591495335,
+            80.19172968555954,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            532.8836591495335,
+            80.19172968555954,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            534.3836591495335,
+            77.59365347420622,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            535.8836591495335,
+            74.9955772628529,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            537.3836591495335,
+            72.39750105149959,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            538.8836591495335,
+            69.79942484014627,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            556.0,
+            64.0,
+            -1.13261
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215329.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215329.png
new file mode 100644
index 0000000000000000000000000000000000000000..6e0b86fca695958430e7476628a1775f019195b8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215329.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f6b5bc6359aed9d14d7052d3a47e64210526e8861b52b04b1c4ffdaa1471912
+size 887959
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215332.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215332.png
new file mode 100644
index 0000000000000000000000000000000000000000..45936fd7a46696c1357ee6dbabbfeb19ff789e03
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215332.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aabc55e8e1175b07eaefa9a5a03ceeb187f23ee679d99a3bef9433603400ae1e
+size 904221
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215334.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215334.png
new file mode 100644
index 0000000000000000000000000000000000000000..8e0c628e4331dcf183df56a5dc353020008049ad
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215334.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce25482db483a51f29e30534098c34dad34baace509d87d604b8c024b4d0c7d5
+size 899086
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215336.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215336.png
new file mode 100644
index 0000000000000000000000000000000000000000..6d9cebe6004adc72c12c704f195921c7019761fe
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215336.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2002bf4cfb03e4dd226cfdd188c8a12079304a9325da3a2b60c246279554691
+size 893392
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215338.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215338.png
new file mode 100644
index 0000000000000000000000000000000000000000..ccfef04707b5f34892d6a7d84e393e63b7d07277
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215338.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:890a876c7da0bbc9e4d9f2d963b8bcc5a236dc772884ba75d744be1783985a42
+size 897787
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215341.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215341.png
new file mode 100644
index 0000000000000000000000000000000000000000..c1944086efe68f1a9388b9d835fd2a503af830c3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215341.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0f8b77de7b57fc25f4fd0c21ef0cfa3303d8eb77f23313393c11e6591ac5fc6
+size 897325
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215343.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215343.png
new file mode 100644
index 0000000000000000000000000000000000000000..ad88a1ce6f72b325d32d4b26a5f334869c64c559
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215343.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:affcc3542ee4dc91308d708dff27a5f1f0edf4f11bedf34735973a3f96bf1913
+size 895753
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215345.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215345.png
new file mode 100644
index 0000000000000000000000000000000000000000..d89439410ba627596e5ea761b267ff086d888215
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215345.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca71bb058acf5a174fa5775193c7c20ebcc496e6cc99f0ad50f09a447b37cb7d
+size 896509
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215348.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215348.png
new file mode 100644
index 0000000000000000000000000000000000000000..ca5d3e4cea1cfc8bbde218cc5d605ffd0e3265b2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215348.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f492649d1934e4fb1600fb882afd458788678adf1426a63d768edb4c8bbe1fc
+size 896405
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215350.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215350.png
new file mode 100644
index 0000000000000000000000000000000000000000..260b1ad02de01d766af393002a348d2b32955050
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215350.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0f2c40f290de1018f98cd2f2b66540ad80d238ac6903c0d35d326cf876bacf5
+size 890869
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215352.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215352.png
new file mode 100644
index 0000000000000000000000000000000000000000..069b9f3a85725aaa984eb370ef756693485ebdc0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215352.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b084f0ffc489d3775a370a005bed280f093edd92a5e2884b47bda5fb268e8e9a
+size 884985
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215354.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215354.png
new file mode 100644
index 0000000000000000000000000000000000000000..68e2a347853b4f1081efae46bd04be79013ed498
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215354.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de33a4fc868604fa33963d5ccd06ef9f0bbca5024decb759aecc397d318e9867
+size 880847
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215357.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215357.png
new file mode 100644
index 0000000000000000000000000000000000000000..7c98d2aaed030c6c9c4dc51ea307652b6acf4780
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215357.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:707086527ecab92e571231c1ce651a6670733d7b343ca9f624ad4db45ef7167e
+size 874706
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215359.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215359.png
new file mode 100644
index 0000000000000000000000000000000000000000..06366058922d734c8e42dfdb81404c87849e6c65
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215359.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c962bbda9b5de9e2f6e69eeb0bd9a77d8fd4c9f204cce345516e2bba0ea3102f
+size 870334
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215402.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215402.png
new file mode 100644
index 0000000000000000000000000000000000000000..58ee6ae410e7eabf077a8b3d31f632cf259a8570
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215402.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:716ce6f7e797ffdbc6249779b42bdcb9c0b523cb468c1b304d8904e4129b5ff3
+size 864328
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215404.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215404.png
new file mode 100644
index 0000000000000000000000000000000000000000..828d5406ea7ac9ef8c1f719bb8f78c8bf10f6b78
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215404.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6090d4213afc4b4e327a8043cdbd69b8de9a02a85aea078f8d63b9c2517f04f2
+size 856864
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215406.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215406.png
new file mode 100644
index 0000000000000000000000000000000000000000..4c8e7ed276ff51f4f1f6361f817b08b1be634760
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215406.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81e841d1081edaebc2a896e8bbdcc267c72526b1a1e6dc6141eb4afa959591f3
+size 850270
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215408.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215408.png
new file mode 100644
index 0000000000000000000000000000000000000000..f962895ec83d96f881749bfbcc69fda826fcb730
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215408.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57dabb94d4c49eeff489716c439daf96ff40a62bafe5c4e4322cdb2cb33077be
+size 841820
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215411.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215411.png
new file mode 100644
index 0000000000000000000000000000000000000000..d08ee52e71da72efbd341bdaab6522e59901c24a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215411.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af3ea158eebea15b5500709d5cb32ba96e7f76e93a43124cda62572a78066667
+size 839456
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215413.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215413.png
new file mode 100644
index 0000000000000000000000000000000000000000..1d8eb526c4381e31ca84a90aae408ac06ba270dc
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215413.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76ae55ccc080518a53fc0c7e8c7b232fa883917a5975ef2c93aa60b622417c9c
+size 825325
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215415.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215415.png
new file mode 100644
index 0000000000000000000000000000000000000000..fe4ca940b9c536ccdb8769665597ca0d349542df
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215415.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3e222d5fad047553ed5f0f14b03a6567cb454988ed52083ab215dd9bebe247d
+size 813114
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215418.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215418.png
new file mode 100644
index 0000000000000000000000000000000000000000..f92b833989cbbaf166f51761b26f7a7f747d714a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215418.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c98e7f69c16882c296f395bedd53816d2e33062214f95452ab6f9ea0142fb19c
+size 800019
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215420.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215420.png
new file mode 100644
index 0000000000000000000000000000000000000000..8d99a69bb612232b4e90d4875500eb25a44041b6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215420.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5e3abd448e1ed025100e0da979411e52dee85c3c22b69abfbdce8feae387958
+size 787972
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215422.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215422.png
new file mode 100644
index 0000000000000000000000000000000000000000..d9bc8060a4e1d9ebedc9cd84a8796da6a2d761a6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215422.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1034059c9f285cc471aeeaee99887382f2d70baef62cf6b80759151819125b3e
+size 785251
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215424.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215424.png
new file mode 100644
index 0000000000000000000000000000000000000000..87fd6ec5ac5d968095eb27750af8071353b3af58
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215424.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7bfd7a61a36bed9e59fda187f2e972ba55ed31c1e713d2cdecc3411f27bbb6e
+size 779120
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215427.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215427.png
new file mode 100644
index 0000000000000000000000000000000000000000..72d37ffc596bb7c78e7d0dd039eed76ce67b3350
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215427.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d28a30eecf94a1c5b20dcacda624a3f13516e5794e10dfa4ba7378915068deaa
+size 774858
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215429.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215429.png
new file mode 100644
index 0000000000000000000000000000000000000000..ab05b3fa9b6c037987981f542d7ed75980cda820
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215429.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1247591c966e4ecf8f0d17ddfbc93088b54a8a6a5b7f91d19c5d27c44c149ebd
+size 771397
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215431.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215431.png
new file mode 100644
index 0000000000000000000000000000000000000000..7c34a80c3e69207112c99011c324a3d2af7fb0a0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215431.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62c1aae7986946782faf4f1c37f7e02e514211ebf7a09571e2bbf266afa218ca
+size 773639
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215433.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215433.png
new file mode 100644
index 0000000000000000000000000000000000000000..0a51df3afdcb7f5c565224da05b1a31487b9948f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215433.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db783c90266519ead639c3754e8d2940d30bd049482deafc72262ceb9f8f0150
+size 775831
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215436.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215436.png
new file mode 100644
index 0000000000000000000000000000000000000000..00fa9ac8984cdac5c184efc465ee5cab0ea90ae6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215436.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da3626cc7f5ca441d1732e29185e9cb06b9312d5f0cad1a89570bbfb2fd73bf4
+size 784989
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215438.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215438.png
new file mode 100644
index 0000000000000000000000000000000000000000..dc2c8349234d63d371c24aa69e084b85fa597278
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215438.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76fd7414e7671e19ee0cb2fa40bf92e0b14c36156f11869ceb281d06137baa4c
+size 776933
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215440.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215440.png
new file mode 100644
index 0000000000000000000000000000000000000000..e9eba57937d0b53ad3f2f22c901ff6bd816c463a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215440.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2208b16f945ddb410a5a263ee5ed50cd28848f161ce721773013d221ae7bebd
+size 735568
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215442.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215442.png
new file mode 100644
index 0000000000000000000000000000000000000000..8509a667ac8f230227879e70998fa5c57977bad7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215442.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f175f6ecd48623dc6a075c2252bd29dffe0b5271a45986f4e5e37147ef56c69
+size 737878
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215444.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215444.png
new file mode 100644
index 0000000000000000000000000000000000000000..4467f406728987d6c2da3150a6b9ec8d97fa4a3d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215444.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:422ffc635de15cf1e76d088629d1bfab1aa0886496bfb2c8c9d9bb760f6f7942
+size 733997
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215447.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215447.png
new file mode 100644
index 0000000000000000000000000000000000000000..040431ff76864f73437d0835fb7328cb147f7d40
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215447.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5788264bd8623fff5d5c32ff9e18cfacd714cb82f96e7b1085bc2db348579f44
+size 737740
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215449.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215449.png
new file mode 100644
index 0000000000000000000000000000000000000000..161980dd7f5f64541dfd5b6ca071cf541db5e3c3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215449.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e11e247b7b1b9cbc168faf183a4f2c1baf616cefcaa18c09e63f1e1f86b2898e
+size 735570
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215451.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215451.png
new file mode 100644
index 0000000000000000000000000000000000000000..46b20fb9e7a3442f1187e6c2591257ce000c49e1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215451.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa75cb4fad4e7322982a24ab2bf1a1e913b0340d152bc22aa9f4839b4a928abb
+size 729367
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215453.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215453.png
new file mode 100644
index 0000000000000000000000000000000000000000..ce44239d576d98af132eb7eb2fe7997051be4cff
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215453.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7709c66fd71aea410f546a18cca1ce251b27002af58545d7fb2b4347ee7fedfa
+size 731892
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215455.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215455.png
new file mode 100644
index 0000000000000000000000000000000000000000..2325b033d3320cce401c6b408e2a70457b3779ab
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215455.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d1921e508eb95d0d8bcba6714870e500eea9eb5ceab21b2b1f88acc99c481e7
+size 727154
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215458.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215458.png
new file mode 100644
index 0000000000000000000000000000000000000000..e19c17451afb717f6d624429f9ca0576478fea9d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215458.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73ec966cbbb1832cd8fc062c09de4ad50b37bffc019db155ae5ce560abcd03c4
+size 720937
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215500.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215500.png
new file mode 100644
index 0000000000000000000000000000000000000000..bfb5a52d2277c5d2ffeb2ead00c398d744fe6e62
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215500.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:325904a6f102dc9fb465617e8e46f8521ecab745a010160ec62d7c7ae3f7907c
+size 713806
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215502.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215502.png
new file mode 100644
index 0000000000000000000000000000000000000000..5be29ce67dc88ef6830e4d49a375ca04dccffacb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215502.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8263c7b6a2f0689cb539bc3d2ba10ae9931750840a6a65d26d63862137c4d5cb
+size 759232
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215504.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215504.png
new file mode 100644
index 0000000000000000000000000000000000000000..7bda01e336f0550dde6ae80dc4269af515078074
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215504.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3aed20471b8f5ab20ece6ab3bbc3da19dc477240a919bd0de85ab064ea3ec97
+size 799603
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215506.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215506.png
new file mode 100644
index 0000000000000000000000000000000000000000..1fff24e8aefdf0cd22618448575c4fad168d6d7b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215506.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04b8f232514fab3c21bd2d776c4a2fa8805eceabb9a86f3e128aedd33492206b
+size 788248
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215509.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215509.png
new file mode 100644
index 0000000000000000000000000000000000000000..24156913f0b66c46b6f5cc31fd6ed33e4b5701cf
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215509.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbf3e865372b3551509c615ef882ae3932b98ac4c935a967c8c20416cfaa6f59
+size 775883
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215511.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215511.png
new file mode 100644
index 0000000000000000000000000000000000000000..ff9c56738e9074c8d9f3301c55f80fa090bf1609
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215511.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:192531ec716e9a0e5c769b87c655b00db8129e3d40946808e44e2507a4324f9a
+size 781175
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215513.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215513.png
new file mode 100644
index 0000000000000000000000000000000000000000..b5e88da6b7215b1981995ea1a69f15b65272d5da
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215513.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7aaa1b23677e9dbae6335f5e3644afd2609f0368b4cf65db9dbe89c9b33190e
+size 775700
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215515.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215515.png
new file mode 100644
index 0000000000000000000000000000000000000000..65e032d1450c48c6a8d1f758abb139d06995d1e9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215515.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2249c89ff7923d905175862de3006a77022d60dbca0e644d6f38be852f2863c3
+size 777510
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215518.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215518.png
new file mode 100644
index 0000000000000000000000000000000000000000..e4fc7363144270e099827af5753c3f20495eb920
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215518.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2047a86e5946709dad9cec02f430603475fdc5f7dd1549f04cbdf8915fed73cb
+size 777705
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215520.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215520.png
new file mode 100644
index 0000000000000000000000000000000000000000..160b2e00498eaf24d0dd63c2f3fbb5bd7deedf96
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215520.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a452fe70d1bb9eb691c6abd4060ae47e1da4a4200979316bd06a3fad9479b33
+size 777237
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215522.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215522.png
new file mode 100644
index 0000000000000000000000000000000000000000..72ec961da8d7142afd4cb36f711fc03727036ec1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215522.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6dcacc76eb3e4b9b4f9dcf21ed980769b1ba5a70074ec36831ae0188dbf5f0bb
+size 783942
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215524.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215524.png
new file mode 100644
index 0000000000000000000000000000000000000000..de8f3506226f8d5f66b63a56c5b563e08a70ef8f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215524.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2707f8d185c4ae50238235d11863ef544f00d2db58c58d3b8b4ffecdd7e5ce41
+size 792715
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215526.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215526.png
new file mode 100644
index 0000000000000000000000000000000000000000..3503aeb6900a18795664606f114606dd36554291
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215526.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33130f11e5cc56d67bca6c6c98c7eed6f19d960f4d1c28d1379b5dfa9d3c137d
+size 795319
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215529.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215529.png
new file mode 100644
index 0000000000000000000000000000000000000000..031c7a7f9a071ea64bd6895e3e33f5b8876d5195
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215529.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93a59eb7ef88227dcd7d1f5636aaf73b43558d96c7dfa9bdc2dac03667838f01
+size 800878
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215531.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215531.png
new file mode 100644
index 0000000000000000000000000000000000000000..d0d8de465ee324e43469a149bb9ce938a9f08dd9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215531.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:751e84a1af8d7cce71a527971dae4eb0adf5257d5f3730484372df2556decffe
+size 799880
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215533.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215533.png
new file mode 100644
index 0000000000000000000000000000000000000000..56a12942ef3696829bf8029f423730248c5f3c3f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215533.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecdebae656bdee312c3eb52b1ee3c34812f741d901853281bcf3b0e80b9dd031
+size 797873
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215536.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215536.png
new file mode 100644
index 0000000000000000000000000000000000000000..e23a4aa47024d25ff1026824c27af1fb9ab45aa0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215536.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edc8b80863bea7237a37f106a4e9639a48c3fa67caa9ad5f5e1500be4124a907
+size 797590
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215538.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215538.png
new file mode 100644
index 0000000000000000000000000000000000000000..6699535cd1acf488f2461bb41d9d5138ece94dfe
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215538.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecb2581d8772754747fa43428e06804e05a03465fd4aeeaa1a030014a40f5cbc
+size 791423
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215540.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215540.png
new file mode 100644
index 0000000000000000000000000000000000000000..da34ed243a26a60d9403a6048d49947bf1154fcf
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215540.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8780fc8e52e49f7e2310761481b50c701fd38661b92efe65acaec9e5763d8452
+size 792299
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215542.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215542.png
new file mode 100644
index 0000000000000000000000000000000000000000..58d3b084274d95acf1a40bb0fd98605cfff11706
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215542.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d12195d7f5d4df1e6aee0fa089322365c026b4ff35e2db4e56166fecb026cd43
+size 786504
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215544.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215544.png
new file mode 100644
index 0000000000000000000000000000000000000000..50c1c8ba0696b0a462e6cce47549694eaf5b8c39
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215544.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85c4fc1faae5ee374d4fce7ced37a4c3fa681ffcb8a0382445158e715cc300c8
+size 789074
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215547.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215547.png
new file mode 100644
index 0000000000000000000000000000000000000000..342e1f39d61625859fe869ac1a0bc0537ac7b413
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-14_21-53-25_84353895/20250114_215547.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:614cccf6525d9c7e937f1f6b3f379f086d021ef00d74d456cdb8bed0efa76bd0
+size 814546
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003907.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003907.png
new file mode 100644
index 0000000000000000000000000000000000000000..d7b8376c56df0c93fa190741b3eb89567c19d05e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003907.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1533e996635b070f90918c4a5e5885279e8156836af69ea82c8ea8a555713f0
+size 503129
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003909.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003909.png
new file mode 100644
index 0000000000000000000000000000000000000000..a4ef06c3a752836f24910d9ed096416240041232
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003909.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:727eec8f9565209979740577a4c5e5a395843b2bc7e9327bfb9c200b1323338f
+size 635991
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003911.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003911.png
new file mode 100644
index 0000000000000000000000000000000000000000..7f261585f63b312023984d9643fe2630d29ae78c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003911.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e8459dea2aaa3ac6484b74fad89d4bac00a0532d8d2891f0ee9a10dd9a8334a
+size 575485
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003913.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003913.png
new file mode 100644
index 0000000000000000000000000000000000000000..804d3eb04aedfe7357ec08dd2ccdacd348863093
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003913.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7f372005d412e3f6fd3bbce9b86cf1f58b2319580c2c36a471de5f7a9c3b917
+size 563779
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003915.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003915.png
new file mode 100644
index 0000000000000000000000000000000000000000..556ab8b1093f5946815ea2100a49f5c8ca030ed1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003915.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c158eea6961ceef03a94d7dea58e3a4cabdc397f4db04c24874bc5d0043420aa
+size 560291
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003917.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003917.png
new file mode 100644
index 0000000000000000000000000000000000000000..ef7db1f52448a597ca7483aa84f1089cee19815a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003917.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5044532cbc9d84ddaefe99cdbca4e8e4533b03468d5d397279181ed3830c03a
+size 567003
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003919.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003919.png
new file mode 100644
index 0000000000000000000000000000000000000000..93f025f879bb12f56c952b13f1f38f84b7061ab8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003919.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9958058011a27fde6f2d5c8b84b2e7bb78957633a6048177f1ef7abd0db17f5e
+size 584047
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003921.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003921.png
new file mode 100644
index 0000000000000000000000000000000000000000..530c94fa2f1c798324acc5c61bd90cf259745d6d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003921.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebfad3b26b9f1550710bddd1b1e183c8bdcb3485aeb42b7771b294ff2e4cf994
+size 595197
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003923.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003923.png
new file mode 100644
index 0000000000000000000000000000000000000000..60494976746463d13e53537da1d5f0b5bf18e608
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003923.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eedf67d32f7a1d7c0733baf65c36456531d7d6e03d990d949d9eda6b51c596d3
+size 599833
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003925.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003925.png
new file mode 100644
index 0000000000000000000000000000000000000000..be9a264af879fd6c0021418f1edec270836b49af
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003925.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05587fb5969362e66eaf557a413fd6d04148ae921c550949095330b5f250c8c0
+size 591733
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003927.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003927.png
new file mode 100644
index 0000000000000000000000000000000000000000..8022f9791dcf86365877e39e21de09605ae6717a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003927.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28696359f3de39fff3fdf50a96e2dc4f010ff72dd72f722ba831dba381b719cd
+size 589230
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003929.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003929.png
new file mode 100644
index 0000000000000000000000000000000000000000..2ff45f45b7981c75d8e5d7530ba19fc9c9d6cb3e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003929.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca162fd515ace7a189a7945054740282ed1cbaeb70076e0e4c6f7272056d8743
+size 608854
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003931.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003931.png
new file mode 100644
index 0000000000000000000000000000000000000000..b8fb1f66f96226f2e5a197ff97679db5849c71af
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003931.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8793ed98e70db590996ba147633f9d940a424de4af9ea46a92938e8dc95bdad
+size 636526
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003933.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003933.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c2570e605a402057fa15b3e21c2e62da342ea4a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003933.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8626afd5263f35ff5e5b1faa2b705783d175cb6f6cbaa396e00046d55b09e01c
+size 660146
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003935.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003935.png
new file mode 100644
index 0000000000000000000000000000000000000000..100e9e059fd51c611683f9bbc0d26a4a5350c8ff
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003935.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77206aca90ba7e43a0a84ee11aea64cf5d733d2c5cd6347dcc3436d69dce7e82
+size 682060
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003937.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003937.png
new file mode 100644
index 0000000000000000000000000000000000000000..fafd3ed2e9339837b61eab073f5e428464501dba
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003937.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:040ff9836f84ec825bb010e0cd5151fe19aa2f2bbbdb318459327db64c821e5d
+size 705615
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003939.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003939.png
new file mode 100644
index 0000000000000000000000000000000000000000..d013d23a12e577aead758d517770f73232b7f5ff
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003939.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03c5001afc14a5bc5f39ba65f800bbb9843463d9dbcc9bfbab94bed614e6cd01
+size 731568
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003941.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003941.png
new file mode 100644
index 0000000000000000000000000000000000000000..33b7e967009e44be2c8e3fdb7dca61f18b8a15ce
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003941.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:946fea23df48c40d37abbce8c0a38c841f5d234b9527a62ea08905db45ea6163
+size 722330
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003944.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003944.png
new file mode 100644
index 0000000000000000000000000000000000000000..2af2160c55b116a9eb2ffa6578211d16e5aceedd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003944.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fee36633693081e7a8fc1d6c0a68792d632e7ed08b0e7fd71fd9f12b636cb386
+size 722374
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003946.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003946.png
new file mode 100644
index 0000000000000000000000000000000000000000..8644c35fbd5c443df5b8bddc9ea34132da01f97d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003946.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cc39347a612be136b90dd5437da873dc8863c107fbafa2fa1b9844fe939831a
+size 717523
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003948.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003948.png
new file mode 100644
index 0000000000000000000000000000000000000000..161b76cd0d64fa34efa1d17b270465198a60bf54
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003948.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f6bc432e110d6f39b6307effbccc54ede23c48a67f2a58e36730e3220f48d7b
+size 716896
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003950.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003950.png
new file mode 100644
index 0000000000000000000000000000000000000000..96ca50f8f3a618835e76d2ad8ef6cfdea39d8bdc
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003950.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d32f4affe1ca19a2ebd84b21737322aebdacd0472f346bb6b11c6f4d56d5cc3
+size 719314
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003952.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003952.png
new file mode 100644
index 0000000000000000000000000000000000000000..aca80f358e7ac9b49eec8c138541a3e1e685ce4b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003952.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:940092a927585ee52d3c0b8c5e65694bafc4e74695e1298324521eaed7eb343d
+size 718763
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003954.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003954.png
new file mode 100644
index 0000000000000000000000000000000000000000..a56685726c355cc258098095746858f3416f2b95
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003954.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e3418dade4d00ae200b6eadcc599be0d4b1e2f177ab5f17edb55455f90a8e34
+size 721735
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003956.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003956.png
new file mode 100644
index 0000000000000000000000000000000000000000..4ba56d5a717b4586e8ce65b1f3989dc20fad1df4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003956.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5e6865efb20bce821e2fe461dc2ced2499b4b333900aaa4a18986598dee6947
+size 721629
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003958.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003958.png
new file mode 100644
index 0000000000000000000000000000000000000000..3295078db69e42ff248d54943838dc34fb6e5528
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_003958.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d056d2f4c76866529c5ace0f588a625e5df9ea1a85b729d610e53b54ccda3c5b
+size 724004
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004001.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004001.png
new file mode 100644
index 0000000000000000000000000000000000000000..5f1be3b6f6e885f0b242821dde107e0aebe8f576
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004001.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6396d72481125d07be083b2546d3c1b233c7f2e5a9725f00df6f7dcfe1252d89
+size 725914
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004003.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004003.png
new file mode 100644
index 0000000000000000000000000000000000000000..5ec5b0344579263b2670c80d5b41189a9d185b0a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004003.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:949cd004bc7483fd38a4c2d5a9035a925efe015fdfdca87bdf9ec1de5a41a9e0
+size 731005
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004005.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004005.png
new file mode 100644
index 0000000000000000000000000000000000000000..6958a4c0d0f58a99a0dd3b1558c4df9a5e0d662a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004005.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31cda1ee60a89414ca3bc1b3eea5e99564e8b59c14ac7f6ea92082213467b904
+size 733590
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004007.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004007.png
new file mode 100644
index 0000000000000000000000000000000000000000..8fe03f70dd75c6676c2425898d1214780cd73b23
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004007.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4059367f13e855289d3ae53bd26d4e00e9f47df38fd18d0f39784060896cce1c
+size 733589
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004009.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004009.png
new file mode 100644
index 0000000000000000000000000000000000000000..fe12212a36da1ba2f04d948e88d86eb1f53bb87c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004009.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a9702924f1e1ab2c0bbabe30bd697663543a95cb31cb9dbfed58f1191aa262e
+size 739783
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004011.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004011.png
new file mode 100644
index 0000000000000000000000000000000000000000..5ec3a79034f86c0a5ecf1b61c6396eec73851ea6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004011.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d477c7591687556a39d8f9bbd76e4e6f39786473cd64f7a8d7e6a0ff6357de3
+size 739834
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004013.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004013.png
new file mode 100644
index 0000000000000000000000000000000000000000..95fa85c0d04d0f20678ec7e4a116a942085338f3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004013.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8717eec266571cedb226f96f92e46f33b3ec4335cbb59f134288f5dcbba4c03e
+size 724415
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004015.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004015.png
new file mode 100644
index 0000000000000000000000000000000000000000..fed7f589da00fe1f06d35e03da89103f845eb8d7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004015.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58fcb2937fd59e62666602f8528f4c06a4d28dff65ea28871dcde2d50f20604a
+size 745548
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004018.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004018.png
new file mode 100644
index 0000000000000000000000000000000000000000..168b3a5538c853142a2a2e7e301b44c0a55cd300
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004018.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3f88f6229be31677a2c0289e287c17b201f2608395cd325a45988875a8230b0
+size 749736
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004020.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004020.png
new file mode 100644
index 0000000000000000000000000000000000000000..d154300a577287bd23c1d7787107d1f7276d6e4c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004020.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b75b929c33d833cf3fa3490dec37562abbb77669dcda1fa50fd7d0018a8c7af
+size 754360
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004022.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004022.png
new file mode 100644
index 0000000000000000000000000000000000000000..fe88c7aeea7bd5061ef7a56d8e382a44d2855e5a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004022.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e4470c59d6abbbef19ac234ed2e2f5614d191ecb7e22dbd756c88b3f5bdeb44
+size 762044
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004024.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004024.png
new file mode 100644
index 0000000000000000000000000000000000000000..f015ca82e25e81cf7b99272c8f9b43fd3f9b86da
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004024.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56b3d4497ca8b2805e3f87c0723506cd2642ffb6613f041090f7fb4801199826
+size 767052
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004026.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004026.png
new file mode 100644
index 0000000000000000000000000000000000000000..f8e12f560415ca649de32e011bf9066a4a3bfe8d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004026.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d69db6bcb631e18ceb9d9a8ce6f89e4969c99d3a21aa80c4b355ab987ccf0085
+size 764342
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004028.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004028.png
new file mode 100644
index 0000000000000000000000000000000000000000..28d08bd8fe8d3ba72ebad7104f935dad179bb0b9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004028.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c388902fe61456d88d4941d32a36281e757c7918be4d92991f8927451f49b766
+size 770284
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004030.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004030.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c79b2890bf64d38ecfb59d5eb2cc6cdd830a56b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004030.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1de4effdb7eca05d80b198d649ed9040b59a57a9c4fd8a037bf01fad48e22b9
+size 768659
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004033.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004033.png
new file mode 100644
index 0000000000000000000000000000000000000000..4788c5f5d39c5b61d831e502f31407eca3e8275b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004033.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb4c1a41cd490f47bdbcdcc26f49ff829260e1f86c33b134ea35d2fe9fe7114c
+size 749966
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004035.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004035.png
new file mode 100644
index 0000000000000000000000000000000000000000..163bf9fba1cfe6ac03d03520a81cc896bec55718
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004035.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8bb589c96ac5468892496ccf03f3574e47e3b2040bc40383c0afd9e87b14adb9
+size 743643
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004037.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004037.png
new file mode 100644
index 0000000000000000000000000000000000000000..d6b784cca4b31dba83892e42b9ff2dd47fd3e08d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004037.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7771c360a3e47aff725adeac6b0bc72d740c88a3076ae39f61f38290ff55a66f
+size 740409
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004039.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004039.png
new file mode 100644
index 0000000000000000000000000000000000000000..4de9225b552636aee1ec0558328195401e917fc4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004039.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:193f7fad2765615bcda5b6c04947b187ca846e6b488796305d87307782e11f66
+size 734684
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004041.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004041.png
new file mode 100644
index 0000000000000000000000000000000000000000..5f119b935683d513c889fca40f50513f37cfb2d9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004041.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b5171ab17e117e122453d307a35b938bb6de8b637bb2141563b03cc428ee018
+size 731128
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004043.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004043.png
new file mode 100644
index 0000000000000000000000000000000000000000..6b9f4fd41eee44e8c054c21ff2cd8e284964e5f3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004043.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb93650907e07b3e55c7012e69f0434feb0f75b9bf75446f7f4bc0c6dacc9b1e
+size 732432
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004046.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004046.png
new file mode 100644
index 0000000000000000000000000000000000000000..a59bd4cbbe03d8ea1a9bc7880d1b66ae309645d3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004046.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cba45fb4274f2be6edec8346e192e07569a74af12dd66839a35e13daa3b0c464
+size 727643
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004048.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004048.png
new file mode 100644
index 0000000000000000000000000000000000000000..abe1002846d5d679568a652718063ffb8fb30826
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004048.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef4bb3132d3426f205004885e05fda41a7c14b8ae42db138308a09a86a51adcb
+size 718833
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004050.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004050.png
new file mode 100644
index 0000000000000000000000000000000000000000..3b1acdfe3821cb13b7f92607a6e19dfb9c6a0ca6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004050.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27b64a038a14fa433ef1ef61cbc28c8b3f381513ab5aed325d721b38df0d22f6
+size 710316
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004052.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004052.png
new file mode 100644
index 0000000000000000000000000000000000000000..c43927f3116e1075ad9a08c08a0612619a05371c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004052.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94dfd5a645844c657f6677a7cc619b90a232563de94df681ec6852da8bc85c56
+size 764396
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004055.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004055.png
new file mode 100644
index 0000000000000000000000000000000000000000..1eacf6a48da129a1ff8f78301f29484e6a37020d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004055.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ad72080384bc3a86c0290b804df422fdafe914c20803f2f39849127d1892e93
+size 765621
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004057.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004057.png
new file mode 100644
index 0000000000000000000000000000000000000000..cfb5608817d9a98d817d121f6072bc73211aeb9e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004057.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94abdce01780c76775e31368bff28716418b567a2c0cadb605576a560155000d
+size 766182
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004059.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004059.png
new file mode 100644
index 0000000000000000000000000000000000000000..367b74a8c357220cee37f9c4e89a90556bbf8cc0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004059.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41ec47310ca23093bde957a39ff1ce8122501d7c2e650da2d9ffb6c8342c531b
+size 765352
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004101.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004101.png
new file mode 100644
index 0000000000000000000000000000000000000000..ee3a3572b8dcdd15d2359a8febdd02e8d6b58d83
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004101.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8efc84277dd673540af52b27a5e3aea798a27b894906505f4a85bbf98779600e
+size 765282
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004103.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004103.png
new file mode 100644
index 0000000000000000000000000000000000000000..b75426901f713c2adb76c8f339156293ed2a8094
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004103.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a814fa0d529db813be5f2e99e43589ca31d31bbe422265d12fcc52dfeff4e52f
+size 763049
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004105.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004105.png
new file mode 100644
index 0000000000000000000000000000000000000000..d874acf634c1cc0b0bd74a258c514703f7ba00d0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004105.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3f35f52aa96e3f8b0296168a8953a03cf525292d6cf54dd13c5c5d478cc01a8
+size 762509
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004108.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004108.png
new file mode 100644
index 0000000000000000000000000000000000000000..764a80ada59a4a3c0546199f8e9cf730f1bf6ef0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004108.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed6c6d6bbd0437e67810a75c0c0f25bbf424572989535d2b2a3e4e125868e8ab
+size 760809
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004110.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004110.png
new file mode 100644
index 0000000000000000000000000000000000000000..67857fd34186f4fb85f3962458464e9ce88a8f4b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004110.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc1284237ee6579d51ac9eff8bcd134f0243a492c05719fbef34bd6896b53de1
+size 759102
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004112.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004112.png
new file mode 100644
index 0000000000000000000000000000000000000000..c04cacc7f1b4b6844f583488fb1380f099e326c5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004112.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6db897d0f82f10daa99c932058466ef2ecbddf2183ce8dce22c4d6068e608e0f
+size 761307
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004114.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004114.png
new file mode 100644
index 0000000000000000000000000000000000000000..9655bc0cc7124331b73e14de7bc2ba4edc16af0b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004114.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f498de568333a6411bfbc3e7a816f5a24dd9681a8d0d39a60f06b577e09a38b0
+size 762329
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004116.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004116.png
new file mode 100644
index 0000000000000000000000000000000000000000..8ca56389ae146030292f071fb63778d311a70271
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004116.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91a7b8edfdfe112367c90dfadf890c1f4cfa33db02a20bff14057cd563cf8000
+size 766360
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004119.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004119.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c600a4b387bd9610024b620d856ac9ae99de9ff
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004119.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2dead5a12ce45fb9406c0be8a22d791f65bf51850777efd7215b05f67d7dea34
+size 772482
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004121.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004121.png
new file mode 100644
index 0000000000000000000000000000000000000000..385981d01f9417c8885ac5a45e9801c3ed582c93
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004121.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d195332ce26fd86993c916bf282d9e8c10604d39fa9a76e474362a6d9ade3a9
+size 777936
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004123.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004123.png
new file mode 100644
index 0000000000000000000000000000000000000000..f7c041ff13f8566c9c55c99d1b522b03ed876842
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004123.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4465c919b17aa5b3058ab2a432bb00fbf0ca8d5fa028cf8ad6f6dacf103d8bc7
+size 775331
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004125.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004125.png
new file mode 100644
index 0000000000000000000000000000000000000000..d766aedbdf2ee179dd2d6f5fdb644cead80166ad
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004125.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:127263c10ea46a2c6b3ddb6a954ca3eb19efb288ceb493cf49341fcb56c18d3c
+size 772010
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004127.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004127.png
new file mode 100644
index 0000000000000000000000000000000000000000..4245da2c005968f2777ec183fe449594ac180f3e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004127.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f2e1b415e037f5c66ed53a8a6e659e85bd1c2e56038f392a770b582dca3181e
+size 767239
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004130.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004130.png
new file mode 100644
index 0000000000000000000000000000000000000000..6a041e76078b888306ea51d47bd765cf23d8d1c8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004130.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd826bcf6fcf344cd4cbd2ffe1516de365d947dfdaa1d8bc95a93a05bef80e80
+size 765013
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004132.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004132.png
new file mode 100644
index 0000000000000000000000000000000000000000..eb257a8c98070df9e83e34719b91b8bd3030b7e8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004132.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e91fd30431a28549bd5817bf7bb0ba0d2383b7e9e8a5d86fa146a86a2491736
+size 763572
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004134.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004134.png
new file mode 100644
index 0000000000000000000000000000000000000000..c9903828d5c28134c21219c76a105ec1c6a38e98
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004134.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c532c2bc8525d2591aacd9ea45bedf44fd124a777cf389dfbaaa7d2334cd615c
+size 757694
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004136.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004136.png
new file mode 100644
index 0000000000000000000000000000000000000000..1373b9466f15fd6741d044092a17170a71a46c99
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004136.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d180329c526f817bcd57e1f2cc27c7d31ec0ebe1967ed9ce91a65209dc787b07
+size 756651
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004139.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004139.png
new file mode 100644
index 0000000000000000000000000000000000000000..64a40f7971d841ad1ee3c8ce9f13464cab1fa2de
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004139.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de6148ff91286fc06ced142b31ff678ccff657ce3df991230b82b9b9069ad0c4
+size 757075
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004141.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004141.png
new file mode 100644
index 0000000000000000000000000000000000000000..54c802cee46e4bb3dcae66c27555f831b64a059d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004141.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef384b66d19427f074133109c73ed705294d11be711fd07bd2db99a2edbe89e0
+size 763285
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004143.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004143.png
new file mode 100644
index 0000000000000000000000000000000000000000..fd15e37360d7967cb6b9218d0d8694e7cd748bde
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_0-39-1_439493451/20250115_004143.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e8305bb6ec63c71da0b3c05dc537399ac668d0c0dec388364b4afe4abd417a9
+size 382543
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212320.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212320.png
new file mode 100644
index 0000000000000000000000000000000000000000..00116f418cec7750e68c7cc5fc599cb033eccd3e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212320.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef28bfb6b08f6e091432972233cf3cb0ce6292b2227c79fcc5387554b35b148e
+size 797195
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212322.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212322.png
new file mode 100644
index 0000000000000000000000000000000000000000..37c8f768d3ddcf2acb1a7026a61265efecef3221
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212322.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52c9ada84d5f9428ae070aabdf51ca1367bef1bdc78b164345e27ef14653b112
+size 802166
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212324.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212324.png
new file mode 100644
index 0000000000000000000000000000000000000000..b7ece068d46cc48fdfc0fcd9467f1a83a59c530d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212324.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12e8c747f3245bbd2c2ad4d77c62b574f889424490b671816006bbbc2fcff319
+size 762751
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212326.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212326.png
new file mode 100644
index 0000000000000000000000000000000000000000..7ef9abc8974032ec5df8c9797127d89ff4c8fa51
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212326.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce0cf7143d297c25a5b6de2b93adc03bd0fb96248f4a0e73058d78aca7e3cc98
+size 760398
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212329.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212329.png
new file mode 100644
index 0000000000000000000000000000000000000000..480a018aa19fe90c44666ba9d3c4072561f038bb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212329.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e192ab857f507f9c3676613be85fcc9668d42be783ecff96738fca541634503c
+size 764764
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212331.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212331.png
new file mode 100644
index 0000000000000000000000000000000000000000..5c65051f62fb84c3562973e41dd4c7bb93d702fd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212331.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d19840a770f3a7906879766d6b4c491678f1f5fd751dd6baadf07db1d7f810d
+size 772719
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212333.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212333.png
new file mode 100644
index 0000000000000000000000000000000000000000..c87ad648365f9f63bfadff6819d81be74dab156a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212333.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eca4deeb17d396a7f88e02316f04c44bd2bb1591be079a8b736da88c6a6a1c6a
+size 774437
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212335.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212335.png
new file mode 100644
index 0000000000000000000000000000000000000000..928234fd544eac5ce3b156070c7104c0e422f2dd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212335.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c1b840feb3b5b15a677f9f5e2f6bf40bb444924f76198cc83862a7107c61d36
+size 785151
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212337.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212337.png
new file mode 100644
index 0000000000000000000000000000000000000000..0ff5c8d7897027d0f2d4ed30f2e4b2c5c0d2c074
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212337.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:672fb37f371f17b1caf79284b896997655cef18ce213e38cfa9cecb6d623893f
+size 789479
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212340.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212340.png
new file mode 100644
index 0000000000000000000000000000000000000000..60b344aece38fa1dacf1f910df9375ac37b3a8d4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212340.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8aa7ffc9c4d1fe482e662a86fe4d1c414cbeb7f820d6b17fe3a07052f34fa1a
+size 791258
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212342.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212342.png
new file mode 100644
index 0000000000000000000000000000000000000000..659d95a7bfbe05078118d0de5c15c199db2d0763
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212342.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b29e540115d2baa34690b944fd032c6cc336f4258503425c2a28547aa013a4b2
+size 784798
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212344.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212344.png
new file mode 100644
index 0000000000000000000000000000000000000000..972882cad599f6bc1a06d91870173578fc69ea6e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212344.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60972865a4200f933952156b5e3d1059877e9aa6c371566f294d04137a4d6cc6
+size 799681
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212346.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212346.png
new file mode 100644
index 0000000000000000000000000000000000000000..24ef02d546f9be4a22b64f3a3fbda850a4151a77
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212346.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb090ff4bf15b203370f9618506a14c1a9223dfeb3bbd61fd67c616fb1cb2aba
+size 792776
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212348.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212348.png
new file mode 100644
index 0000000000000000000000000000000000000000..d35c3884699e0d3b74836f99c48ad5f68dbe02e2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212348.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52426c2abd067e6ae6d8dded4b982aed6d2065729bd43b09301274d767fdfa2b
+size 805424
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212350.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212350.png
new file mode 100644
index 0000000000000000000000000000000000000000..6b473ba372f2723099f4819107b8688d2c1b9479
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212350.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57d2462d0588e2602d86aff12aa459fac53f886149d17f9c753c4a2456b32788
+size 843539
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212353.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212353.png
new file mode 100644
index 0000000000000000000000000000000000000000..6a26217cd6bb4cb6811df31a911242d756055bb1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212353.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2149ae131cc1cd33ad9ec58297a30c4292fe2096cf981727ec89ea26fb0843c7
+size 850037
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212355.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212355.png
new file mode 100644
index 0000000000000000000000000000000000000000..2152ceb4c28e1c3b0d4274138629afc9b6c093dd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212355.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:045892f457bd4f74cbc4b24f663f64de0f1364984af31c1aaa637bd34b2bb9eb
+size 859734
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212357.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212357.png
new file mode 100644
index 0000000000000000000000000000000000000000..b35f8f25b4c24fdf8be0ff008ddc87930bffdff1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212357.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1889efdaa7db4d353b4e24710aceeebd634741204ae37f204bebf1c39150929d
+size 867599
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212359.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212359.png
new file mode 100644
index 0000000000000000000000000000000000000000..98f52a3d043c6ee527943c49a3c8e07d073e7cdc
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212359.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b90968cdaa501c387bfe24058609fc43736c6c442320eb5b0c452be743e88249
+size 781607
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212401.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212401.png
new file mode 100644
index 0000000000000000000000000000000000000000..1d8ec1dc93e8ed88c9d609207e1033f16b0cfdbe
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212401.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78e68e8f82a71f744a7f204825565915f3fb345973abadb323e86fd57756515e
+size 790283
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212404.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212404.png
new file mode 100644
index 0000000000000000000000000000000000000000..0f2747f084b1bcbb669b77615fe056c1ca424522
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212404.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:630f85f9c147780e6ad073f5b62cbb03db285f88d1926f5d2bef1d55d0596228
+size 804272
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212406.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212406.png
new file mode 100644
index 0000000000000000000000000000000000000000..be7c9539750505a5da60f462fa2691adb78149f0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212406.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a36af4998891a5768007770c555ef6d65610750756e745b8b7eb4ad70dc233a
+size 794871
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212408.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212408.png
new file mode 100644
index 0000000000000000000000000000000000000000..782e62dc45e8876b9dcf698885ea57fce67a55d4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212408.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:166388d96936d3068c5fe300e24a3a2d9c86bfd786e85709a5194ad2ff63e3b4
+size 790124
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212410.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212410.png
new file mode 100644
index 0000000000000000000000000000000000000000..299afbcea814b15ab22776c6e2902c9f5b1573f7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212410.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b11c1c67516d115ba362e6aa42cc9fac68a7e5bf42525668147c31c9ee2d21be
+size 772083
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212412.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212412.png
new file mode 100644
index 0000000000000000000000000000000000000000..cedbc99d60bd5d5820fe56c2d61b80c73382af3e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212412.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b6caa046e3892499f734998923cd737e47acb274b0950651458f3a3c7ccf43d
+size 769381
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212414.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212414.png
new file mode 100644
index 0000000000000000000000000000000000000000..94912be3cf0158fdc80f07800c6f75c47c07c12f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212414.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aef54edfa245ccac835fc7278ad45b98d79c8d49f7bdda422b58e58dd4a74b6a
+size 763621
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212417.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212417.png
new file mode 100644
index 0000000000000000000000000000000000000000..defbe7935dd3f5cea7e1773c0b0e28a489024e98
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212417.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:594d828bcd13a9e50ee9ce21d32db9e77351229281c3ac29ebe667aa3c3f6c9c
+size 748436
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212419.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212419.png
new file mode 100644
index 0000000000000000000000000000000000000000..a2cca60dd943081b42ee789e471a465bbee8271e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212419.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4321dad6e2d0409bac3504b3adbf25cfc139e9264e8c7998040a14aefb7b5636
+size 745209
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212421.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212421.png
new file mode 100644
index 0000000000000000000000000000000000000000..51ca788eb5975904cd017d31f913ef246d248bbd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212421.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21640b2082b808dfde382c15f8e60837fbdfae724667c8d3fcfd03877840b3ed
+size 732253
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212423.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212423.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c55306084a1dbd16e099588f6d24c2c5d35b7a0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212423.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22959c8957c41ee2ffbfcac81266314872d4319ea5b5d18f69ee97822cfc81e7
+size 720626
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212425.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212425.png
new file mode 100644
index 0000000000000000000000000000000000000000..4687a1b105c56b567c1a8f65c2453ee21d7f0cd6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212425.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cefdea72223c35002cf50e737d59b21bccf39cc86933009a00087c828202c00e
+size 719094
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212427.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212427.png
new file mode 100644
index 0000000000000000000000000000000000000000..d553d8b995ed1676606bc189be215044a9329abb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212427.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2aaee54c42afb34468f8a422f7cb4a042ff9ca732f5090371bcb102f90d0cf33
+size 776573
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212429.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212429.png
new file mode 100644
index 0000000000000000000000000000000000000000..fdd0ff3f189ee1db3c151f342d3626e29376378b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212429.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4730e803e9b272d4ec12c8c7c112f24e75fe53315b4f82bc6f164ae08e1a1022
+size 776109
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212432.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212432.png
new file mode 100644
index 0000000000000000000000000000000000000000..6e22131b99dba3ac014e8eda4e0055dce7f13d0f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212432.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c13e50166d0a0d04151161fb75e9d56e1ce659ce699cc302151e9c1636d4943
+size 771786
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212434.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212434.png
new file mode 100644
index 0000000000000000000000000000000000000000..d8ee502506a4ebeb5f1d5ffefc44d4ba1342dddf
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212434.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:314a31636523d7778dca6b52e128de244b714dff0be5e6c328c96780360d2043
+size 771994
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212436.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212436.png
new file mode 100644
index 0000000000000000000000000000000000000000..249446954d02d215ed21b43c901ee68cd07c497b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212436.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa4640827342280cd9246a6e1e282a6e9fe8ded94e335377c2e386cd59e0ddac
+size 722158
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212438.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212438.png
new file mode 100644
index 0000000000000000000000000000000000000000..0f636a597bb42fd3fcd6a24741e7352b319b383f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212438.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:990e707aff250f782b80085fe4421dca2814f175e7e54cff3b282d75e6f0e82e
+size 613411
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212440.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212440.png
new file mode 100644
index 0000000000000000000000000000000000000000..ec6d5657a8e3e95af2a7dcdcd56da3d0f4764ded
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212440.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bb2d938bd56d257be3bb8d67b048d70af340c47cdfb74ba644a64a9ba76edc1
+size 578954
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212442.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212442.png
new file mode 100644
index 0000000000000000000000000000000000000000..88b5aeae253ab537dcf2438daa2aa1117f5bc0a0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212442.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5b28af079b1451f6e948d07c924b5ca2ab3e1b9269bf9c8499071ef5192bc79
+size 587524
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212444.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212444.png
new file mode 100644
index 0000000000000000000000000000000000000000..27fe19a37e020219ebe126ab176c90ccb29d2604
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212444.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2ca99cdb40bcd424809a971d0a8c2dcca8e985bbb06ed6717f03fc9c4ba58ed
+size 600231
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212446.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212446.png
new file mode 100644
index 0000000000000000000000000000000000000000..563f8b6b42ecf5dcd2a7c20b98c6ace80160ab89
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212446.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7e6d0edfb9b26b1447d83e85db1aa72bbafd67b83c3a773d6eeacd1fccabc25
+size 607224
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212448.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212448.png
new file mode 100644
index 0000000000000000000000000000000000000000..d1e0b67a50ba0d4c2ae43a2a32539b81d98e4693
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212448.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4898bcd8474f2ff4c755e67956613833b72bbc0918f59085268e42dddc2fe19
+size 606609
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212450.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212450.png
new file mode 100644
index 0000000000000000000000000000000000000000..7c26cf41ca22e4dd114babaae9b4a8c71840ae6a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212450.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02a91aa0969850fc153176fb858f135734d3f1f8c4e7e855093a70d3b1a897f6
+size 606189
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212452.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212452.png
new file mode 100644
index 0000000000000000000000000000000000000000..073fb6a387a22f0fe515baa29ca48bed867d25b0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212452.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:793793e61eb6e660d827005f839f08de3a94112279da586f8e03a709fb2c8e68
+size 620028
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212454.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212454.png
new file mode 100644
index 0000000000000000000000000000000000000000..1b829bf6f556faaecc1ecadf66dcad083de0ff5f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212454.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d29a9a4f073ead993b40e06469fb18f05e9b2a1c09e089d2db4de69f9df60dc
+size 618824
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212456.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212456.png
new file mode 100644
index 0000000000000000000000000000000000000000..2bff08c494768a75f602add868e3faca47e60e25
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212456.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb8656d491046d279e8253b96f462c759503fde53dc7a4e7fa9b2ae7ee8332e1
+size 614127
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212459.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212459.png
new file mode 100644
index 0000000000000000000000000000000000000000..ee8e528d17efbc2dcfd04b980184d172405a8eb3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212459.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37f0d213b1396246e6d6ab5dc764d8d830c236ff6788a6c5ad78cde1d58e717b
+size 614926
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212501.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212501.png
new file mode 100644
index 0000000000000000000000000000000000000000..5b113b53a56c2d030632963bc8e5b532e0948299
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212501.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f9d0d09c5626c3bac8ae2cded10d7657ba42f72243563c92c678a65a2359ebe
+size 614868
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212503.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212503.png
new file mode 100644
index 0000000000000000000000000000000000000000..7ea69cfb804016d3fa8c1756ed24d5dc871756ef
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212503.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8e0b398e5b9247f4c65f2c71ae83ee2461e9aca36029eedc65f709a9017e9c6
+size 641854
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212505.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212505.png
new file mode 100644
index 0000000000000000000000000000000000000000..7201d6e0c5a875d6136659cf19b7ce33b4613fcf
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_21-23-16_1691449122/20250115_212505.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8f8ea24ee2f2ed739f654019ca0f63c9478c22c4b14f74263d2eb0bc4c7765e
+size 656100
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034403.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034403.png
new file mode 100644
index 0000000000000000000000000000000000000000..315215fd2edf4e4b9d3d6fb7a6000f46e7257df7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034403.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b27488976473fdd250eed9cf2d145f16c46aa66615e93ad4d378e4d617983b6
+size 717929
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034405.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034405.png
new file mode 100644
index 0000000000000000000000000000000000000000..cb66539b29b987cbb7eccf7413ad6a0c5a698e3b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034405.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10660f800be2e3a394edd8dbda6b66def005c6937279a8989eedf5eb74d0ce53
+size 721083
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034407.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034407.png
new file mode 100644
index 0000000000000000000000000000000000000000..c7d612851514c64cec58176bbbaac4ca5e3b8347
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034407.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01920c96079a0296307af77c67da5c07173d7f019a99d198031e145795e82564
+size 705192
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034409.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034409.png
new file mode 100644
index 0000000000000000000000000000000000000000..9f681504b5a677478c056ee048d0e904e0ab3bfc
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034409.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4f11cdd38f6202015f8abceb97dea8319fd663de5b76ee9d791491dfd0c720c
+size 699146
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034412.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034412.png
new file mode 100644
index 0000000000000000000000000000000000000000..d05674ca5730582af30339cbed3520d006a51daf
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034412.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3cf58350d489f5fd10ef479c18a9f3c172f5510628512f90725ba1b16ed8ba00
+size 694859
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034414.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034414.png
new file mode 100644
index 0000000000000000000000000000000000000000..06f1236850bc825a9710b525d3c38f6937ccd3e2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034414.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fe04f877dc0466ab3c5ddd74d567dc563a473c2ed1d0994d958f9d1a152a88d
+size 692809
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034416.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034416.png
new file mode 100644
index 0000000000000000000000000000000000000000..4568a14320ae86dd678b23224ee0eebc929554a4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034416.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44bd2a6fe3e58e65dc9326d0481404f8e38bfdc53f4f27a8cdf4bff228b4e4e4
+size 693161
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034418.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034418.png
new file mode 100644
index 0000000000000000000000000000000000000000..e8a7b7c6a3c4201f97c47b6dd91f40e784e530f9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034418.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5bdf1270ddc467fa16441ea655c727cfe737dac9d3bb3a1b281664cf35c9117
+size 702912
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034420.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034420.png
new file mode 100644
index 0000000000000000000000000000000000000000..41b4d111cd5dddcd4278cad499db3b5f9b7b8c67
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034420.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c258b1aa7b9b66208d5c0b67b28794e7731784b17abb48cd22eedd367800d571
+size 705301
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034423.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034423.png
new file mode 100644
index 0000000000000000000000000000000000000000..a51a2b46603506f799c60a5e08caa48048cfe0f5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034423.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a374440ba5fa8eddf6bba6a8bbfc772e7a2ba77be29a2a84050aeee286c61e0
+size 707014
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034425.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034425.png
new file mode 100644
index 0000000000000000000000000000000000000000..87b98ba15aad79ddf4e1103a8fc8135a10c73947
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034425.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64de3c95702cd67205bb53e1cbdbdf4cdf52889b78bb0a659f26150a96998b1c
+size 706760
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034427.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034427.png
new file mode 100644
index 0000000000000000000000000000000000000000..faf85717324d978b20f98ba6563d796fd4b546e3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034427.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38e36cdd53295ec7c5978f2fa7b93a17cab123898f4f420e3f1ff375cf4d396d
+size 705673
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034429.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034429.png
new file mode 100644
index 0000000000000000000000000000000000000000..c2336edc646597977886d1b2aa7b6ad3280074dd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034429.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30679bed769a22bade104031560474b6a362e2312a60d6bd2571c3851638fc8e
+size 702651
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034432.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034432.png
new file mode 100644
index 0000000000000000000000000000000000000000..dc62809766995968d2c8d81783dd2d49c3ad8ee0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034432.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9a1491973bc1cfcb3a4f4cf33eb2af1c1f0684b0849ef3da9a25839107d2d42
+size 698803
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034434.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034434.png
new file mode 100644
index 0000000000000000000000000000000000000000..62e3c33be10ecb7467f4805ec2ab5773487dc694
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034434.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc25e07fb2424d9c4465860811cee5f8516964e6067b31b6aca3b11c89cf8e44
+size 698882
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034436.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034436.png
new file mode 100644
index 0000000000000000000000000000000000000000..e62856fdf33880bbe2369f67881bbc20452755a8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034436.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:351017d00254f15e2171325c4b5f271a037fb9179155d79c70dd7aec2ed8eb5d
+size 697291
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034438.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034438.png
new file mode 100644
index 0000000000000000000000000000000000000000..e4a3013b0bbb09cb75a5621293af1c273e3da782
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034438.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43762e6d4c908f80d7375356277ab27bb7e4d6945ea270e131ffa0ec7d89a1cb
+size 692306
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034440.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034440.png
new file mode 100644
index 0000000000000000000000000000000000000000..bcdf89f4e2f8b940ed225e1e1e286e64772fd4c5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034440.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2741ea7579d04600f4a325e5d4dc0c06bb5f77ace0d1e9fbd57ad98ab956f67
+size 694418
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034443.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034443.png
new file mode 100644
index 0000000000000000000000000000000000000000..caaf165c0d5aeafe2755082d70976c980d37987d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034443.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8801f55121705f8bc938e01f8d9d049026a72d3ffca26e81c59ce5757069b46
+size 690322
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034445.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034445.png
new file mode 100644
index 0000000000000000000000000000000000000000..581348304a21c6332013a4ded4cfdeb926153269
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034445.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a0c1a6b124cb0b13627dcfa56ce5d461e5ad83d80599c124987bfb2011268ff
+size 693639
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034447.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034447.png
new file mode 100644
index 0000000000000000000000000000000000000000..488116d26b147d1532a4627c7306f6d62b6145bd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034447.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65d9fd3b3faef152c79a71b2251b79e606566b8268f8de1fd53d341abc76017d
+size 691410
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034449.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034449.png
new file mode 100644
index 0000000000000000000000000000000000000000..abad9d545dbbcc8ffcfa549ca63a17c10ac80206
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034449.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e5754ece96039789960930199ba04733a3877ff039efeb79d2bfd48c7c84fb4
+size 690990
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034451.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034451.png
new file mode 100644
index 0000000000000000000000000000000000000000..dfa27b1017b0eb16a01545b36cb11a20f7375ee6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034451.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2d236b78e95d94e0ac64b75ada244f52ae89bca3d9fa58e6c6a7c6c92c5dffc
+size 692585
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034454.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034454.png
new file mode 100644
index 0000000000000000000000000000000000000000..b2eba5f012bdd49acfa19b83c348568dab984e95
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034454.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:890966ae87c96f211c8f96956d9108e3aa65823ae10797a43a40e35fc1e7fb37
+size 697165
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034456.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034456.png
new file mode 100644
index 0000000000000000000000000000000000000000..a7c5279c7f568b1d48d0614fc47aaa1b281cdb98
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034456.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d20a7d825dda8481764a5c72c4ab87b757cf933c4365a7400d1c004064dcc6d
+size 693724
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034458.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034458.png
new file mode 100644
index 0000000000000000000000000000000000000000..165673318a4996baa49b54f362a8c4cbe12fb592
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034458.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d95073547c9a9b4894407355d47ac57dcd9a635b60bf8317b4fa0e96de10392
+size 688640
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034500.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034500.png
new file mode 100644
index 0000000000000000000000000000000000000000..607048a0a1bbc386f5fc3eb52ca3209d28d53e0f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034500.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32bf5e4d818ae4150af5f5b441fd910fa65dbddacd4eb93fc919d776f2a42dcc
+size 681250
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034502.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034502.png
new file mode 100644
index 0000000000000000000000000000000000000000..df480d50fd77faae6bf65f9cc1d646d884309fff
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_3-43-58_889023311/20250115_034502.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7b616829e32a2f29abc8a05c117a09c754c888bcf60f8e4a1f11359fc63c4df
+size 684939
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011537.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011537.png
new file mode 100644
index 0000000000000000000000000000000000000000..f8ce72f3e3f2146d779cda4e6e9b1b5788505c75
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011537.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:746ea13a3a2055701d1fbb0114fa4bd1fade6a2d35c64e3f9592b57bae7afaeb
+size 767021
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011539.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011539.png
new file mode 100644
index 0000000000000000000000000000000000000000..c927efacbdb26ad713085dbff921560da2a74d01
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011539.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50043f874c69a0469ac922a311f48e96bb5691d88b1bcf3e0a76f493ba32168b
+size 784044
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011544.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011544.png
new file mode 100644
index 0000000000000000000000000000000000000000..19e17519ef2052e1734f4910186461696e8aa276
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011544.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18660790b4df46c5bf255708a563451d3f805d9cef63a011be7b620be7e02319
+size 804020
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011546.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011546.png
new file mode 100644
index 0000000000000000000000000000000000000000..65bc9baa20b51eff7d79c5ba9ad9d48009e6e4d0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011546.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69ba4935f9771ba872750a2b00995156c38f3eba16e103e07c274b69cca12248
+size 811604
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011548.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011548.png
new file mode 100644
index 0000000000000000000000000000000000000000..c7d32eaf9000f9a5eb0a595017779e7639b743db
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011548.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7dd918d0df03b2eafec529e388a78920848e6c8448ac17dc501a0ae1d69c4252
+size 817412
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011550.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011550.png
new file mode 100644
index 0000000000000000000000000000000000000000..2c72b7debc298bbe0e4acc85b186687fd277406f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011550.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d10b3557ff9dbb3d9f4da999548ba47a25d727b08d6e5ada00a2f520a1e9438
+size 820282
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011553.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011553.png
new file mode 100644
index 0000000000000000000000000000000000000000..0d4e94d2b253b05ccc96535e9ed5e75ee7931afd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011553.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0064cf595fb9c1cb4a92107053656720d74cbbd640888b708e934e596f01eea6
+size 817600
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011557.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011557.png
new file mode 100644
index 0000000000000000000000000000000000000000..fd989c052f40489e17cb1c8869eacb80ff54756b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011557.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d547271355f4d3e813bbc8b23a15dd3418ceb00f106ed908c9a6a82b4abafea
+size 820741
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011559.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011559.png
new file mode 100644
index 0000000000000000000000000000000000000000..ac8f1b19c3c6674f7d0293c26e676932977652d1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011559.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:366200a24b4443416e0b555c171ad5e3a9ec3ad7de849982bf7c78e4169a1676
+size 822237
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011601.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011601.png
new file mode 100644
index 0000000000000000000000000000000000000000..2b61a4f1d3cfc767aef6acc91f919d783b78257e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011601.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:707856df3269fbbce8b911a85614c3b909aca6c740afaf3cdadc6b65c79f1f83
+size 822076
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011604.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011604.png
new file mode 100644
index 0000000000000000000000000000000000000000..e1dc59094968f148f750b142e83568175fd15380
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011604.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b80582cbfa8af324f4baf20864b1e6ad4e90ef187f1b3242dd6b8a1a7d66195c
+size 818248
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011606.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011606.png
new file mode 100644
index 0000000000000000000000000000000000000000..abc9034485919a4e537a03619a2dec33dfd1f910
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011606.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1577c58758506eb0c15e3a15826043994b5340b638a93436ac62651e2c45b4a8
+size 820487
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011608.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011608.png
new file mode 100644
index 0000000000000000000000000000000000000000..6aa4190070fdc12f39ab7f3074dcb5e5de1f87b0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011608.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f2d8db664ae2f6195fbac8ba1739ce6ba59f59cf1ec952123006338123dbe62
+size 827186
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011610.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011610.png
new file mode 100644
index 0000000000000000000000000000000000000000..0aa7a260c3aeee3e02df180b2b7f14f661e76f60
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011610.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7065b82bb8ccb9a039e6f896ec772c4b578e263e2bd0e161a5cecaf907fe7cb8
+size 828858
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011613.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011613.png
new file mode 100644
index 0000000000000000000000000000000000000000..fb6ba9c277c899fc9b43bbafdb677b4537b4cbfa
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011613.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3b1161ef95f45342d1b5739a857c81019d5ae7f36b0b7689b9dd066490d1c48
+size 827713
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011617.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011617.png
new file mode 100644
index 0000000000000000000000000000000000000000..12249abad2728a3b8b9fa40ed9e4467759abd43e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011617.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82af03b72ecb775052a928b87c8392da53632fde13f19fc4befd18d11db5dbe9
+size 693101
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011621.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011621.png
new file mode 100644
index 0000000000000000000000000000000000000000..0f3fd1758fb219511d91684dc846342143d7b874
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011621.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5dc42c09d7d3ec7f387f9a5fa71da50943fa3e5f5d6b16a238f77166bf79dcf8
+size 698570
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011624.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011624.png
new file mode 100644
index 0000000000000000000000000000000000000000..b7c54fe55eb738145d1a04988e21d1cf08509e44
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011624.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca5b22ff963262cda3ca5496a4c62bb82b2ed5eb565500e9ed642a901529f7e7
+size 697042
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011626.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011626.png
new file mode 100644
index 0000000000000000000000000000000000000000..f76e233caff22f1ba4a23c156fbcb38cea67c08e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011626.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40d9f06e855367e32d852d3355ae2c25188018221aabce29cbfbcb399da137b5
+size 697719
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011630.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011630.png
new file mode 100644
index 0000000000000000000000000000000000000000..046c789474a806b64ec51ccba3927691efdd584b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011630.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c956a65cbcf7217afd03d0395e1153e878b16ec43825059526d8a25c4420d7d
+size 779375
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011635.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011635.png
new file mode 100644
index 0000000000000000000000000000000000000000..a4b7b4e78d3af468b337c47803ae76d0c0f9504d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011635.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:746ef0b4810bbb010633d759eb995d104570a84493e1e4df7940eb82f41f403d
+size 832283
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011637.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011637.png
new file mode 100644
index 0000000000000000000000000000000000000000..2f38fafdbae0761f5fcd60125f532f220a188deb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011637.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f923af94812d9c3ce8b6e788ec6d7693fa01baee4c0282e73e8bb501d354091
+size 836922
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011639.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011639.png
new file mode 100644
index 0000000000000000000000000000000000000000..aefed1d50ca1190ead7097bfd20a1e46b05d2df0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011639.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e92f16282a21709a5cf79887c05a3ac00efbfc20d60f075ea7d051125af918d
+size 803943
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011641.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011641.png
new file mode 100644
index 0000000000000000000000000000000000000000..eaeb21f70d3fd69931d1d3aa9cf6bbd04bd8a969
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011641.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:144c78a01e2c37c4317d73ed1045a5fe31ad7209196b46445ada09a19a4ae07f
+size 804845
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011644.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011644.png
new file mode 100644
index 0000000000000000000000000000000000000000..9e8c5cec6d9e05ac1f7f42f9e4ae370224da7c9e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011644.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1b92c67cbd7a56e894f831b04ff6d904657c4d767c578727c92e0e8ee42ace1
+size 805313
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011646.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011646.png
new file mode 100644
index 0000000000000000000000000000000000000000..0139dd22197ec5e4943130df98b741534262db11
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011646.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4db2ae28fb5c73c81eeb097da94b993c49fae30a5bb37c06941edbcf0baebdc5
+size 806091
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011648.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011648.png
new file mode 100644
index 0000000000000000000000000000000000000000..43de4762a8f11b430cc9216eae4449fc62d32223
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011648.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4d5b0fbe2d2dbf4701c66ab85c5f58d9901365ead85b9664f88d56e70c4f00e
+size 810115
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011650.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011650.png
new file mode 100644
index 0000000000000000000000000000000000000000..edd9a7d89068297551152b9e7b3ce9b3364297b5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011650.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b96b422584efa4ff88b1b1d2250b910eb20d9acd48f9b1beecea8e926fbc8f9
+size 810243
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011657.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011657.png
new file mode 100644
index 0000000000000000000000000000000000000000..89bea339ee3b8b46d6ef9e03950ea62a543dd94c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011657.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df62ef701f65c58938bcbf0bdb93aa7849c6052dd88eca8ee43a01beef31feec
+size 829874
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011702.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011702.png
new file mode 100644
index 0000000000000000000000000000000000000000..a794b169db0ce54e9d6dbfecf0ea63f0fdabfd90
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011702.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f7a5f5a99487d06f73a74d0a56b0f43744100de5d6eb85acd10e7498620b454
+size 830926
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011704.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011704.png
new file mode 100644
index 0000000000000000000000000000000000000000..352bf0d55c0ac69aab5fd9b31f2b716138f45800
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011704.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b3e1aa1c868dbf32c32f633a876a1d2e976173b71baaf77535e75e07578bf03
+size 829567
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011706.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011706.png
new file mode 100644
index 0000000000000000000000000000000000000000..3852bee73f848efaef40c7237a90cae17a42b6ee
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011706.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62802e3202abf973773375cf8d9545844e3e0c1613cc41a003472ee596b332f6
+size 836547
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011708.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011708.png
new file mode 100644
index 0000000000000000000000000000000000000000..6a47185ada494fdc808919f540a7366d6e2b5b49
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011708.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d260057509d0d6ea4cd6146eb46c3103fdd626c7fd31bc46c02759f520cfecba
+size 843061
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011713.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011713.png
new file mode 100644
index 0000000000000000000000000000000000000000..546b4656ffa589ffdfea467e3e6cc2f00aad72d8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011713.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d52dc6d5f99a8d977344ba3b7152399efeb4fea555f90300e0a460eabbb505ce
+size 819356
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011715.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011715.png
new file mode 100644
index 0000000000000000000000000000000000000000..4c19d59859729d2853bb38bdbfe7a7f93bf07db5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011715.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ccad2fd22b41bffea5758a82b4997f15bd5a86d9f6567324e751c40b09e8c1b
+size 795410
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011720.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011720.png
new file mode 100644
index 0000000000000000000000000000000000000000..976f034dbecfbd561762e6437122bfb99c6d87b3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-15-30_1787897525/20250116_011720.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d63acd0cffefc855aa2ef527988c2cf2bd4b99ce667d8569b1fcc5e7fa068094
+size 728895
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_17-13-26_185963953/20250116_171413.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_17-13-26_185963953/20250116_171413.png
new file mode 100644
index 0000000000000000000000000000000000000000..0f8053ec7450ae998a511d785a77d19be8615a14
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_17-13-26_185963953/20250116_171413.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ed8f3b91d55b2779f129bdc3e2a9fd8d691803ab89de32d9e18df9b85581731
+size 674444
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_17-13-26_185963953/20250116_171432.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_17-13-26_185963953/20250116_171432.png
new file mode 100644
index 0000000000000000000000000000000000000000..62b47a95bde09eae487fb8da784bf16474b05207
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_17-13-26_185963953/20250116_171432.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b986df2b8968eca3273f69a2140c3ea92748ca6f253a850adc00298b1b1b1709
+size 666195
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_17-13-26_185963953/20250116_171434.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_17-13-26_185963953/20250116_171434.png
new file mode 100644
index 0000000000000000000000000000000000000000..cbc7de7864ea020d46101f202cdd9b67bd3bfb73
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_17-13-26_185963953/20250116_171434.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0972612ae1dabe6b1ab55a282760ed3c6c371f6fbf8e8e77154f0d1112f8f950
+size 670408
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_17-13-26_185963953/20250116_171436.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_17-13-26_185963953/20250116_171436.png
new file mode 100644
index 0000000000000000000000000000000000000000..dfcc75b701cb522650220a3faa449ce774f3d573
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_17-13-26_185963953/20250116_171436.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bb5a481720b0c7902dd2155c670b8a4057c4a155d8102b79f0861b14f7b1a45
+size 673086
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_17-13-26_185963953/20250116_171442.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_17-13-26_185963953/20250116_171442.png
new file mode 100644
index 0000000000000000000000000000000000000000..a0047f5297cb73cc7d9a52ec0a4e6183ab69fda4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_17-13-26_185963953/20250116_171442.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5741d085472bcaaf88787fb553eec4d35276c50ffa3f69dcb812cca54eceb15b
+size 712484
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_17-13-26_185963953/20250116_171451.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_17-13-26_185963953/20250116_171451.png
new file mode 100644
index 0000000000000000000000000000000000000000..0945d90eeef99d60939e2b943c0d297d20098319
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_17-13-26_185963953/20250116_171451.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:452547f26c8675ca05013f1279a43a65ec1a1232e460fe5edb97a8c02b28ed77
+size 730409