From 91b88baa748790e39cc1fa4806cb52987681baf9 Mon Sep 17 00:00:00 2001
From: FuDarco <1014991393@qq.com>
Date: Fri, 28 Jul 2023 18:20:01 +0800
Subject: [PATCH] docs modified.

---
 404.html                                      |  76 +++-------
 AnalysisAndEvaluation/Database/index.html     |  85 +++--------
 AnalysisAndEvaluation/Evaluation/index.html   |  79 +++--------
 DecisionAndPlanning/Customization/index.html  | 133 +++---------------
 DecisionAndPlanning/Decision/index.html       | 133 +++---------------
 DecisionAndPlanning/Overview/index.html       |  85 +++--------
 DecisionAndPlanning/Planning/index.html       | 133 +++---------------
 GettingStarted/carla_cosim/index.html         |  81 +++--------
 GettingStarted/installDeploy/index.html       |  79 +++--------
 GettingStarted/otherFunction/index.html       |  79 +++--------
 GettingStarted/realtimeSim/index.html         |  83 +++--------
 GettingStarted/replayAndIreplay/index.html    |  79 +++--------
 assets/stylesheets/custom.2fa34c39.min.css    |   2 +-
 en/AnalysisAndEvaluation/Database/index.html  |  85 +++--------
 .../Evaluation/index.html                     |  79 +++--------
 .../Customization/index.html                  | 133 +++---------------
 en/DecisionAndPlanning/Decision/index.html    | 133 +++---------------
 en/DecisionAndPlanning/Overview/index.html    |  85 +++--------
 en/DecisionAndPlanning/Planning/index.html    | 133 +++---------------
 en/GettingStarted/carla_cosim/index.html      |  81 +++--------
 en/GettingStarted/installDeploy/index.html    |  79 +++--------
 en/GettingStarted/otherFunction/index.html    |  79 +++--------
 en/GettingStarted/realtimeSim/index.html      |  83 +++--------
 en/GettingStarted/replayAndIreplay/index.html |  79 +++--------
 en/index.html                                 | 118 ++++++++--------
 index.html                                    | 118 ++++++++--------
 logger/__pycache__/__init__.cpython-39.pyc    | Bin 163 -> 0 bytes
 logger/__pycache__/logger.cpython-39.pyc      | Bin 1881 -> 0 bytes
 search/search_index.json                      |   2 +-
 simModel/__pycache__/__init__.cpython-39.pyc  | Bin 142 -> 0 bytes
 .../__pycache__/carFactory.cpython-39.pyc     | Bin 14314 -> 0 bytes
 .../common/__pycache__/gui.cpython-39.pyc     | Bin 10085 -> 0 bytes
 .../__pycache__/networkBuild.cpython-39.pyc   | Bin 16692 -> 0 bytes
 .../__pycache__/model.cpython-39.pyc          | Bin 19843 -> 0 bytes
 .../__pycache__/movingScene.cpython-39.pyc    | Bin 7812 -> 0 bytes
 sitemap.xml                                   |  24 ++--
 sitemap.xml.gz                                | Bin 507 -> 507 bytes
 .../__pycache__/__init__.cpython-39.pyc       | Bin 250 -> 0 bytes
 .../traffic_manager.cpython-39.pyc            | Bin 10044 -> 0 bytes
 .../__pycache__/__init__.cpython-39.pyc       | Bin 386 -> 0 bytes
 .../coord_conversion.cpython-39.pyc           | Bin 3148 -> 0 bytes
 .../common/__pycache__/cost.cpython-39.pyc    | Bin 5942 -> 0 bytes
 .../__pycache__/observation.cpython-39.pyc    | Bin 1613 -> 0 bytes
 .../__pycache__/obstacle_cost.cpython-39.pyc  | Bin 7339 -> 0 bytes
 .../common/__pycache__/vehicle.cpython-39.pyc | Bin 12566 -> 0 bytes
 .../__pycache__/__init__.cpython-39.pyc       | Bin 395 -> 0 bytes
 .../abstract_decision_maker.cpython-39.pyc    | Bin 2442 -> 0 bytes
 .../mcts_decision_maker.cpython-39.pyc        | Bin 6871 -> 0 bytes
 .../mcts/__pycache__/__init__.cpython-39.pyc  | Bin 400 -> 0 bytes
 .../__pycache__/flow_state.cpython-39.pyc     | Bin 6790 -> 0 bytes
 .../mcts/__pycache__/mcts.cpython-39.pyc      | Bin 3410 -> 0 bytes
 .../__pycache__/__init__.cpython-39.pyc       | Bin 156 -> 0 bytes
 .../abstract_planner.cpython-39.pyc           | Bin 1623 -> 0 bytes
 .../ego_vehicle_planner.cpython-39.pyc        | Bin 3556 -> 0 bytes
 .../multi_vehicle_planner.cpython-39.pyc      | Bin 5754 -> 0 bytes
 .../trajectory_generator.cpython-39.pyc       | Bin 10559 -> 0 bytes
 .../__pycache__/__init__.cpython-39.pyc       | Bin 411 -> 0 bytes
 .../frenet_optimal_planner.cpython-39.pyc     | Bin 7900 -> 0 bytes
 .../polynomial_curve.cpython-39.pyc           | Bin 3495 -> 0 bytes
 .../__pycache__/__init__.cpython-39.pyc       | Bin 158 -> 0 bytes
 .../abstract_predictor.cpython-39.pyc         | Bin 1345 -> 0 bytes
 .../simple_predictor.cpython-39.pyc           | Bin 1673 -> 0 bytes
 utils/__pycache__/__init__.cpython-39.pyc     | Bin 370 -> 0 bytes
 utils/__pycache__/cubic_spline.cpython-39.pyc | Bin 10278 -> 0 bytes
 utils/__pycache__/data_copy.cpython-39.pyc    | Bin 505 -> 0 bytes
 utils/__pycache__/load_config.cpython-39.pyc  | Bin 645 -> 0 bytes
 utils/__pycache__/obstacles.cpython-39.pyc    | Bin 8595 -> 0 bytes
 utils/__pycache__/roadgraph.cpython-39.pyc    | Bin 7600 -> 0 bytes
 .../separate_axis_theorem.cpython-39.pyc      | Bin 2023 -> 0 bytes
 utils/__pycache__/simBase.cpython-39.pyc      | Bin 2864 -> 0 bytes
 utils/__pycache__/trajectory.cpython-39.pyc   | Bin 12063 -> 0 bytes
 zh/AnalysisAndEvaluation/Database/index.html  |  85 +++--------
 .../Evaluation/index.html                     |  79 +++--------
 .../Customization/index.html                  | 133 +++---------------
 zh/DecisionAndPlanning/Decision/index.html    | 133 +++---------------
 zh/DecisionAndPlanning/Overview/index.html    |  85 +++--------
 zh/DecisionAndPlanning/Planning/index.html    | 133 +++---------------
 zh/GettingStarted/carla_cosim/index.html      |  81 +++--------
 zh/GettingStarted/installDeploy/index.html    |  79 +++--------
 zh/GettingStarted/otherFunction/index.html    |  79 +++--------
 zh/GettingStarted/realtimeSim/index.html      |  83 +++--------
 zh/GettingStarted/replayAndIreplay/index.html |  79 +++--------
 zh/index.html                                 | 118 ++++++++--------
 83 files changed, 844 insertions(+), 2761 deletions(-)
 delete mode 100644 logger/__pycache__/__init__.cpython-39.pyc
 delete mode 100644 logger/__pycache__/logger.cpython-39.pyc
 delete mode 100644 simModel/__pycache__/__init__.cpython-39.pyc
 delete mode 100644 simModel/common/__pycache__/carFactory.cpython-39.pyc
 delete mode 100644 simModel/common/__pycache__/gui.cpython-39.pyc
 delete mode 100644 simModel/common/__pycache__/networkBuild.cpython-39.pyc
 delete mode 100644 simModel/egoTracking/__pycache__/model.cpython-39.pyc
 delete mode 100644 simModel/egoTracking/__pycache__/movingScene.cpython-39.pyc
 delete mode 100644 trafficManager/__pycache__/__init__.cpython-39.pyc
 delete mode 100644 trafficManager/__pycache__/traffic_manager.cpython-39.pyc
 delete mode 100644 trafficManager/common/__pycache__/__init__.cpython-39.pyc
 delete mode 100644 trafficManager/common/__pycache__/coord_conversion.cpython-39.pyc
 delete mode 100644 trafficManager/common/__pycache__/cost.cpython-39.pyc
 delete mode 100644 trafficManager/common/__pycache__/observation.cpython-39.pyc
 delete mode 100644 trafficManager/common/__pycache__/obstacle_cost.cpython-39.pyc
 delete mode 100644 trafficManager/common/__pycache__/vehicle.cpython-39.pyc
 delete mode 100644 trafficManager/decision_maker/__pycache__/__init__.cpython-39.pyc
 delete mode 100644 trafficManager/decision_maker/__pycache__/abstract_decision_maker.cpython-39.pyc
 delete mode 100644 trafficManager/decision_maker/__pycache__/mcts_decision_maker.cpython-39.pyc
 delete mode 100644 trafficManager/decision_maker/mcts/__pycache__/__init__.cpython-39.pyc
 delete mode 100644 trafficManager/decision_maker/mcts/__pycache__/flow_state.cpython-39.pyc
 delete mode 100644 trafficManager/decision_maker/mcts/__pycache__/mcts.cpython-39.pyc
 delete mode 100644 trafficManager/planner/__pycache__/__init__.cpython-39.pyc
 delete mode 100644 trafficManager/planner/__pycache__/abstract_planner.cpython-39.pyc
 delete mode 100644 trafficManager/planner/__pycache__/ego_vehicle_planner.cpython-39.pyc
 delete mode 100644 trafficManager/planner/__pycache__/multi_vehicle_planner.cpython-39.pyc
 delete mode 100644 trafficManager/planner/__pycache__/trajectory_generator.cpython-39.pyc
 delete mode 100644 trafficManager/planner/frenet_optimal_planner/__pycache__/__init__.cpython-39.pyc
 delete mode 100644 trafficManager/planner/frenet_optimal_planner/__pycache__/frenet_optimal_planner.cpython-39.pyc
 delete mode 100644 trafficManager/planner/frenet_optimal_planner/__pycache__/polynomial_curve.cpython-39.pyc
 delete mode 100644 trafficManager/predictor/__pycache__/__init__.cpython-39.pyc
 delete mode 100644 trafficManager/predictor/__pycache__/abstract_predictor.cpython-39.pyc
 delete mode 100644 trafficManager/predictor/__pycache__/simple_predictor.cpython-39.pyc
 delete mode 100644 utils/__pycache__/__init__.cpython-39.pyc
 delete mode 100644 utils/__pycache__/cubic_spline.cpython-39.pyc
 delete mode 100644 utils/__pycache__/data_copy.cpython-39.pyc
 delete mode 100644 utils/__pycache__/load_config.cpython-39.pyc
 delete mode 100644 utils/__pycache__/obstacles.cpython-39.pyc
 delete mode 100644 utils/__pycache__/roadgraph.cpython-39.pyc
 delete mode 100644 utils/__pycache__/separate_axis_theorem.cpython-39.pyc
 delete mode 100644 utils/__pycache__/simBase.cpython-39.pyc
 delete mode 100644 utils/__pycache__/trajectory.cpython-39.pyc

diff --git a/404.html b/404.html
index 4c5526c..a2e54f9 100644
--- a/404.html
+++ b/404.html
@@ -11,7 +11,7 @@
       
       
       <link rel="icon" href="/assets/images/logo.svg">
-      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.0.5">
+      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.1.3">
     
     
       
@@ -19,10 +19,10 @@
       
     
     
-      <link rel="stylesheet" href="/assets/stylesheets/main.558e4712.min.css">
+      <link rel="stylesheet" href="/assets/stylesheets/main.c4a75a56.min.css">
       
         
-        <link rel="stylesheet" href="/assets/stylesheets/palette.2505c338.min.css">
+        <link rel="stylesheet" href="/assets/stylesheets/palette.a0c5b2b5.min.css">
       
       
 
@@ -178,7 +178,7 @@
         <a href="https://github.com/PJLab-ADG/LimSim.git" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -197,7 +197,7 @@
           
             
 <nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-tabs__inner md-grid">
+  <div class="md-grid">
     <ul class="md-tabs__list">
       
         
@@ -293,7 +293,7 @@
       <a href="https://github.com/PJLab-ADG/LimSim.git" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -331,16 +331,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_2" type="checkbox" id="__nav_2" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2" >
       
       
       
-        <label class="md-nav__link" for="__nav_2" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_2" id="__nav_2_label" tabindex="0">
           Getting Started
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Getting Started" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_2_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_2">
           <span class="md-nav__icon md-icon"></span>
           Getting Started
@@ -436,16 +436,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_3" type="checkbox" id="__nav_3" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_3" >
       
       
       
-        <label class="md-nav__link" for="__nav_3" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
           Decision & Planing
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Decision & Planing" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_3_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_3">
           <span class="md-nav__icon md-icon"></span>
           Decision & Planing
@@ -466,48 +466,6 @@
 
             
           
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="/DecisionAndPlanning/Decision/" class="md-nav__link">
-        Decision
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="/DecisionAndPlanning/Planning/" class="md-nav__link">
-        Planning
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="/DecisionAndPlanning/Customization/" class="md-nav__link">
-        Customization
-      </a>
-    </li>
-  
-
-            
-          
         </ul>
       </nav>
     </li>
@@ -527,16 +485,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_4" type="checkbox" id="__nav_4" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_4" >
       
       
       
-        <label class="md-nav__link" for="__nav_4" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
           Analysis & Evaluation
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Analysis & Evaluation" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_4_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_4">
           <span class="md-nav__icon md-icon"></span>
           Analysis & Evaluation
@@ -642,11 +600,11 @@ <h1>404 - Not found</h1>
       <div class="md-dialog__inner md-typeset"></div>
     </div>
     
-    <script id="__config" type="application/json">{"base": "/", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "/assets/javascripts/workers/search.e5c33ebb.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "/", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "/assets/javascripts/workers/search.208ed371.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
 
-      <script src="/assets/javascripts/bundle.51d95adb.min.js"></script>
+      <script src="/assets/javascripts/bundle.efa0ade1.min.js"></script>
       
         <script src="https://polyfill.io/v3/polyfill.min.js?features=es6"></script>
       
diff --git a/AnalysisAndEvaluation/Database/index.html b/AnalysisAndEvaluation/Database/index.html
index 6a09943..b7f1cc7 100644
--- a/AnalysisAndEvaluation/Database/index.html
+++ b/AnalysisAndEvaluation/Database/index.html
@@ -9,13 +9,13 @@
       
       
       
-        <link rel="prev" href="../../DecisionAndPlanning/Customization/">
+        <link rel="prev" href="../../DecisionAndPlanning/Overview/">
       
       
         <link rel="next" href="../Evaluation/">
       
       <link rel="icon" href="../../assets/images/logo.svg">
-      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.0.5">
+      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.1.3">
     
     
       
@@ -23,10 +23,10 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.558e4712.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.c4a75a56.min.css">
       
         
-        <link rel="stylesheet" href="../../assets/stylesheets/palette.2505c338.min.css">
+        <link rel="stylesheet" href="../../assets/stylesheets/palette.a0c5b2b5.min.css">
       
       
 
@@ -187,7 +187,7 @@
         <a href="https://github.com/PJLab-ADG/LimSim.git" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -206,7 +206,7 @@
           
             
 <nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-tabs__inner md-grid">
+  <div class="md-grid">
     <ul class="md-tabs__list">
       
         
@@ -304,7 +304,7 @@
       <a href="https://github.com/PJLab-ADG/LimSim.git" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -342,16 +342,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_2" type="checkbox" id="__nav_2" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2" >
       
       
       
-        <label class="md-nav__link" for="__nav_2" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_2" id="__nav_2_label" tabindex="0">
           Getting Started
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Getting Started" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_2_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_2">
           <span class="md-nav__icon md-icon"></span>
           Getting Started
@@ -447,16 +447,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_3" type="checkbox" id="__nav_3" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_3" >
       
       
       
-        <label class="md-nav__link" for="__nav_3" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
           Decision & Planing
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Decision & Planing" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_3_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_3">
           <span class="md-nav__icon md-icon"></span>
           Decision & Planing
@@ -477,48 +477,6 @@
 
             
           
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Decision/" class="md-nav__link">
-        Decision
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Planning/" class="md-nav__link">
-        Planning
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Customization/" class="md-nav__link">
-        Customization
-      </a>
-    </li>
-  
-
-            
-          
         </ul>
       </nav>
     </li>
@@ -540,16 +498,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_4" type="checkbox" id="__nav_4" checked>
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_4" checked>
       
       
       
-        <label class="md-nav__link" for="__nav_4" tabindex="0" aria-expanded="true">
+        <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
           Analysis & Evaluation
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Analysis & Evaluation" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_4_label" aria-expanded="true">
         <label class="md-nav__title" for="__nav_4">
           <span class="md-nav__icon md-icon"></span>
           Analysis & Evaluation
@@ -565,7 +523,7 @@
   
     <li class="md-nav__item md-nav__item--active">
       
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      <input class="md-nav__toggle md-toggle" type="checkbox" id="__toc">
       
       
       
@@ -844,7 +802,6 @@
   
 
 
-
   <h1>Database</h1>
 
 <p>markdown
@@ -1245,7 +1202,7 @@ <h3 id="frameinfo">frameINFO<a class="headerlink" href="#frameinfo" title="Perma
       <nav class="md-footer__inner md-grid" aria-label="Footer" >
         
           
-          <a href="../../DecisionAndPlanning/Customization/" class="md-footer__link md-footer__link--prev" aria-label="Previous: Customization" rel="prev">
+          <a href="../../DecisionAndPlanning/Overview/" class="md-footer__link md-footer__link--prev" aria-label="Previous: Overview" rel="prev">
             <div class="md-footer__button md-icon">
               <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
             </div>
@@ -1254,7 +1211,7 @@ <h3 id="frameinfo">frameINFO<a class="headerlink" href="#frameinfo" title="Perma
                 <span class="md-footer__direction">
                   Previous
                 </span>
-                Customization
+                Overview
               </div>
             </div>
           </a>
@@ -1299,11 +1256,11 @@ <h3 id="frameinfo">frameINFO<a class="headerlink" href="#frameinfo" title="Perma
       <div class="md-dialog__inner md-typeset"></div>
     </div>
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../assets/javascripts/workers/search.e5c33ebb.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../assets/javascripts/workers/search.208ed371.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
 
-      <script src="../../assets/javascripts/bundle.51d95adb.min.js"></script>
+      <script src="../../assets/javascripts/bundle.efa0ade1.min.js"></script>
       
         <script src="https://polyfill.io/v3/polyfill.min.js?features=es6"></script>
       
diff --git a/AnalysisAndEvaluation/Evaluation/index.html b/AnalysisAndEvaluation/Evaluation/index.html
index d7619d0..1ba7359 100644
--- a/AnalysisAndEvaluation/Evaluation/index.html
+++ b/AnalysisAndEvaluation/Evaluation/index.html
@@ -13,7 +13,7 @@
       
       
       <link rel="icon" href="../../assets/images/logo.svg">
-      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.0.5">
+      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.1.3">
     
     
       
@@ -21,10 +21,10 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.558e4712.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.c4a75a56.min.css">
       
         
-        <link rel="stylesheet" href="../../assets/stylesheets/palette.2505c338.min.css">
+        <link rel="stylesheet" href="../../assets/stylesheets/palette.a0c5b2b5.min.css">
       
       
 
@@ -185,7 +185,7 @@
         <a href="https://github.com/PJLab-ADG/LimSim.git" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -204,7 +204,7 @@
           
             
 <nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-tabs__inner md-grid">
+  <div class="md-grid">
     <ul class="md-tabs__list">
       
         
@@ -302,7 +302,7 @@
       <a href="https://github.com/PJLab-ADG/LimSim.git" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -340,16 +340,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_2" type="checkbox" id="__nav_2" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2" >
       
       
       
-        <label class="md-nav__link" for="__nav_2" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_2" id="__nav_2_label" tabindex="0">
           Getting Started
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Getting Started" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_2_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_2">
           <span class="md-nav__icon md-icon"></span>
           Getting Started
@@ -445,16 +445,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_3" type="checkbox" id="__nav_3" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_3" >
       
       
       
-        <label class="md-nav__link" for="__nav_3" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
           Decision & Planing
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Decision & Planing" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_3_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_3">
           <span class="md-nav__icon md-icon"></span>
           Decision & Planing
@@ -475,48 +475,6 @@
 
             
           
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Decision/" class="md-nav__link">
-        Decision
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Planning/" class="md-nav__link">
-        Planning
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Customization/" class="md-nav__link">
-        Customization
-      </a>
-    </li>
-  
-
-            
-          
         </ul>
       </nav>
     </li>
@@ -538,16 +496,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_4" type="checkbox" id="__nav_4" checked>
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_4" checked>
       
       
       
-        <label class="md-nav__link" for="__nav_4" tabindex="0" aria-expanded="true">
+        <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
           Analysis & Evaluation
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Analysis & Evaluation" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_4_label" aria-expanded="true">
         <label class="md-nav__title" for="__nav_4">
           <span class="md-nav__icon md-icon"></span>
           Analysis & Evaluation
@@ -577,7 +535,7 @@
   
     <li class="md-nav__item md-nav__item--active">
       
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      <input class="md-nav__toggle md-toggle" type="checkbox" id="__toc">
       
       
       
@@ -788,7 +746,6 @@
   
 
 
-
   <h1>Evaluation</h1>
 
 <h2 id="evaluation-module">Evaluation Module<a class="headerlink" href="#evaluation-module" title="Permanent link">&para;</a></h2>
@@ -890,11 +847,11 @@ <h3 id="data-retrieval">Data Retrieval<a class="headerlink" href="#data-retrieva
       <div class="md-dialog__inner md-typeset"></div>
     </div>
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../assets/javascripts/workers/search.e5c33ebb.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../assets/javascripts/workers/search.208ed371.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
 
-      <script src="../../assets/javascripts/bundle.51d95adb.min.js"></script>
+      <script src="../../assets/javascripts/bundle.efa0ade1.min.js"></script>
       
         <script src="https://polyfill.io/v3/polyfill.min.js?features=es6"></script>
       
diff --git a/DecisionAndPlanning/Customization/index.html b/DecisionAndPlanning/Customization/index.html
index 9209632..28e414f 100644
--- a/DecisionAndPlanning/Customization/index.html
+++ b/DecisionAndPlanning/Customization/index.html
@@ -9,13 +9,9 @@
       
       
       
-        <link rel="prev" href="../Planning/">
-      
-      
-        <link rel="next" href="../../AnalysisAndEvaluation/Database/">
       
       <link rel="icon" href="../../assets/images/logo.svg">
-      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.0.5">
+      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.1.3">
     
     
       
@@ -23,10 +19,10 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.558e4712.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.c4a75a56.min.css">
       
         
-        <link rel="stylesheet" href="../../assets/stylesheets/palette.2505c338.min.css">
+        <link rel="stylesheet" href="../../assets/stylesheets/palette.a0c5b2b5.min.css">
       
       
 
@@ -182,7 +178,7 @@
         <a href="https://github.com/PJLab-ADG/LimSim.git" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -201,7 +197,7 @@
           
             
 <nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-tabs__inner md-grid">
+  <div class="md-grid">
     <ul class="md-tabs__list">
       
         
@@ -235,15 +231,13 @@
         
   
   
-    
-  
 
 
   
   
   
     <li class="md-tabs__item">
-      <a href="../Overview/" class="md-tabs__link md-tabs__link--active">
+      <a href="../Overview/" class="md-tabs__link">
         Decision & Planing
       </a>
     </li>
@@ -299,7 +293,7 @@
       <a href="https://github.com/PJLab-ADG/LimSim.git" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -337,16 +331,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_2" type="checkbox" id="__nav_2" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2" >
       
       
       
-        <label class="md-nav__link" for="__nav_2" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_2" id="__nav_2_label" tabindex="0">
           Getting Started
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Getting Started" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_2_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_2">
           <span class="md-nav__icon md-icon"></span>
           Getting Started
@@ -435,25 +429,23 @@
 
   
   
-    
-  
   
     
-    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_3" type="checkbox" id="__nav_3" checked>
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_3" >
       
       
       
-        <label class="md-nav__link" for="__nav_3" tabindex="0" aria-expanded="true">
+        <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
           Decision & Planing
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Decision & Planing" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_3_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_3">
           <span class="md-nav__icon md-icon"></span>
           Decision & Planing
@@ -474,56 +466,6 @@
 
             
           
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../Decision/" class="md-nav__link">
-        Decision
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../Planning/" class="md-nav__link">
-        Planning
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-    
-  
-  
-    <li class="md-nav__item md-nav__item--active">
-      
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
-      
-      
-      
-      <a href="./" class="md-nav__link md-nav__link--active">
-        Customization
-      </a>
-      
-    </li>
-  
-
-            
-          
         </ul>
       </nav>
     </li>
@@ -543,16 +485,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_4" type="checkbox" id="__nav_4" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_4" >
       
       
       
-        <label class="md-nav__link" for="__nav_4" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
           Analysis & Evaluation
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Analysis & Evaluation" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_4_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_4">
           <span class="md-nav__icon md-icon"></span>
           Analysis & Evaluation
@@ -629,6 +571,7 @@
   
 
 
+  <h1>Customization</h1>
 
 
 
@@ -648,42 +591,6 @@
         <footer class="md-footer">
   
     
-      
-      <nav class="md-footer__inner md-grid" aria-label="Footer" >
-        
-          
-          <a href="../Planning/" class="md-footer__link md-footer__link--prev" aria-label="Previous: Planning" rel="prev">
-            <div class="md-footer__button md-icon">
-              <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
-            </div>
-            <div class="md-footer__title">
-              <div class="md-ellipsis">
-                <span class="md-footer__direction">
-                  Previous
-                </span>
-                Planning
-              </div>
-            </div>
-          </a>
-        
-        
-          
-          <a href="../../AnalysisAndEvaluation/Database/" class="md-footer__link md-footer__link--next" aria-label="Next: Database" rel="next">
-            <div class="md-footer__title">
-              <div class="md-ellipsis">
-                <span class="md-footer__direction">
-                  Next
-                </span>
-                Database
-              </div>
-            </div>
-            <div class="md-footer__button md-icon">
-              <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M4 11v2h12l-5.5 5.5 1.42 1.42L19.84 12l-7.92-7.92L10.5 5.5 16 11H4Z"/></svg>
-            </div>
-          </a>
-        
-      </nav>
-    
   
   <div class="md-footer-meta md-typeset">
     <div class="md-footer-meta__inner md-grid">
@@ -706,11 +613,11 @@
       <div class="md-dialog__inner md-typeset"></div>
     </div>
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../assets/javascripts/workers/search.e5c33ebb.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../assets/javascripts/workers/search.208ed371.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
 
-      <script src="../../assets/javascripts/bundle.51d95adb.min.js"></script>
+      <script src="../../assets/javascripts/bundle.efa0ade1.min.js"></script>
       
         <script src="https://polyfill.io/v3/polyfill.min.js?features=es6"></script>
       
diff --git a/DecisionAndPlanning/Decision/index.html b/DecisionAndPlanning/Decision/index.html
index 8bab28a..944c9fa 100644
--- a/DecisionAndPlanning/Decision/index.html
+++ b/DecisionAndPlanning/Decision/index.html
@@ -9,13 +9,9 @@
       
       
       
-        <link rel="prev" href="../Overview/">
-      
-      
-        <link rel="next" href="../Planning/">
       
       <link rel="icon" href="../../assets/images/logo.svg">
-      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.0.5">
+      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.1.3">
     
     
       
@@ -23,10 +19,10 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.558e4712.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.c4a75a56.min.css">
       
         
-        <link rel="stylesheet" href="../../assets/stylesheets/palette.2505c338.min.css">
+        <link rel="stylesheet" href="../../assets/stylesheets/palette.a0c5b2b5.min.css">
       
       
 
@@ -182,7 +178,7 @@
         <a href="https://github.com/PJLab-ADG/LimSim.git" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -201,7 +197,7 @@
           
             
 <nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-tabs__inner md-grid">
+  <div class="md-grid">
     <ul class="md-tabs__list">
       
         
@@ -235,15 +231,13 @@
         
   
   
-    
-  
 
 
   
   
   
     <li class="md-tabs__item">
-      <a href="../Overview/" class="md-tabs__link md-tabs__link--active">
+      <a href="../Overview/" class="md-tabs__link">
         Decision & Planing
       </a>
     </li>
@@ -299,7 +293,7 @@
       <a href="https://github.com/PJLab-ADG/LimSim.git" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -337,16 +331,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_2" type="checkbox" id="__nav_2" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2" >
       
       
       
-        <label class="md-nav__link" for="__nav_2" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_2" id="__nav_2_label" tabindex="0">
           Getting Started
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Getting Started" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_2_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_2">
           <span class="md-nav__icon md-icon"></span>
           Getting Started
@@ -435,25 +429,23 @@
 
   
   
-    
-  
   
     
-    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_3" type="checkbox" id="__nav_3" checked>
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_3" >
       
       
       
-        <label class="md-nav__link" for="__nav_3" tabindex="0" aria-expanded="true">
+        <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
           Decision & Planing
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Decision & Planing" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_3_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_3">
           <span class="md-nav__icon md-icon"></span>
           Decision & Planing
@@ -474,56 +466,6 @@
 
             
           
-            
-              
-  
-  
-    
-  
-  
-    <li class="md-nav__item md-nav__item--active">
-      
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
-      
-      
-      
-      <a href="./" class="md-nav__link md-nav__link--active">
-        Decision
-      </a>
-      
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../Planning/" class="md-nav__link">
-        Planning
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../Customization/" class="md-nav__link">
-        Customization
-      </a>
-    </li>
-  
-
-            
-          
         </ul>
       </nav>
     </li>
@@ -543,16 +485,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_4" type="checkbox" id="__nav_4" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_4" >
       
       
       
-        <label class="md-nav__link" for="__nav_4" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
           Analysis & Evaluation
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Analysis & Evaluation" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_4_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_4">
           <span class="md-nav__icon md-icon"></span>
           Analysis & Evaluation
@@ -629,6 +571,7 @@
   
 
 
+  <h1>Decision</h1>
 
 
 
@@ -648,42 +591,6 @@
         <footer class="md-footer">
   
     
-      
-      <nav class="md-footer__inner md-grid" aria-label="Footer" >
-        
-          
-          <a href="../Overview/" class="md-footer__link md-footer__link--prev" aria-label="Previous: Overview" rel="prev">
-            <div class="md-footer__button md-icon">
-              <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
-            </div>
-            <div class="md-footer__title">
-              <div class="md-ellipsis">
-                <span class="md-footer__direction">
-                  Previous
-                </span>
-                Overview
-              </div>
-            </div>
-          </a>
-        
-        
-          
-          <a href="../Planning/" class="md-footer__link md-footer__link--next" aria-label="Next: Planning" rel="next">
-            <div class="md-footer__title">
-              <div class="md-ellipsis">
-                <span class="md-footer__direction">
-                  Next
-                </span>
-                Planning
-              </div>
-            </div>
-            <div class="md-footer__button md-icon">
-              <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M4 11v2h12l-5.5 5.5 1.42 1.42L19.84 12l-7.92-7.92L10.5 5.5 16 11H4Z"/></svg>
-            </div>
-          </a>
-        
-      </nav>
-    
   
   <div class="md-footer-meta md-typeset">
     <div class="md-footer-meta__inner md-grid">
@@ -706,11 +613,11 @@
       <div class="md-dialog__inner md-typeset"></div>
     </div>
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../assets/javascripts/workers/search.e5c33ebb.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../assets/javascripts/workers/search.208ed371.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
 
-      <script src="../../assets/javascripts/bundle.51d95adb.min.js"></script>
+      <script src="../../assets/javascripts/bundle.efa0ade1.min.js"></script>
       
         <script src="https://polyfill.io/v3/polyfill.min.js?features=es6"></script>
       
diff --git a/DecisionAndPlanning/Overview/index.html b/DecisionAndPlanning/Overview/index.html
index 322ded2..039472c 100644
--- a/DecisionAndPlanning/Overview/index.html
+++ b/DecisionAndPlanning/Overview/index.html
@@ -12,10 +12,10 @@
         <link rel="prev" href="../../GettingStarted/otherFunction/">
       
       
-        <link rel="next" href="../Decision/">
+        <link rel="next" href="../../AnalysisAndEvaluation/Database/">
       
       <link rel="icon" href="../../assets/images/logo.svg">
-      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.0.5">
+      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.1.3">
     
     
       
@@ -23,10 +23,10 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.558e4712.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.c4a75a56.min.css">
       
         
-        <link rel="stylesheet" href="../../assets/stylesheets/palette.2505c338.min.css">
+        <link rel="stylesheet" href="../../assets/stylesheets/palette.a0c5b2b5.min.css">
       
       
 
@@ -182,7 +182,7 @@
         <a href="https://github.com/PJLab-ADG/LimSim.git" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -201,7 +201,7 @@
           
             
 <nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-tabs__inner md-grid">
+  <div class="md-grid">
     <ul class="md-tabs__list">
       
         
@@ -299,7 +299,7 @@
       <a href="https://github.com/PJLab-ADG/LimSim.git" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -337,16 +337,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_2" type="checkbox" id="__nav_2" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2" >
       
       
       
-        <label class="md-nav__link" for="__nav_2" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_2" id="__nav_2_label" tabindex="0">
           Getting Started
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Getting Started" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_2_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_2">
           <span class="md-nav__icon md-icon"></span>
           Getting Started
@@ -444,16 +444,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_3" type="checkbox" id="__nav_3" checked>
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_3" checked>
       
       
       
-        <label class="md-nav__link" for="__nav_3" tabindex="0" aria-expanded="true">
+        <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
           Decision & Planing
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Decision & Planing" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_3_label" aria-expanded="true">
         <label class="md-nav__title" for="__nav_3">
           <span class="md-nav__icon md-icon"></span>
           Decision & Planing
@@ -469,7 +469,7 @@
   
     <li class="md-nav__item md-nav__item--active">
       
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      <input class="md-nav__toggle md-toggle" type="checkbox" id="__toc">
       
       
       
@@ -482,48 +482,6 @@
 
             
           
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../Decision/" class="md-nav__link">
-        Decision
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../Planning/" class="md-nav__link">
-        Planning
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../Customization/" class="md-nav__link">
-        Customization
-      </a>
-    </li>
-  
-
-            
-          
         </ul>
       </nav>
     </li>
@@ -543,16 +501,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_4" type="checkbox" id="__nav_4" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_4" >
       
       
       
-        <label class="md-nav__link" for="__nav_4" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
           Analysis & Evaluation
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Analysis & Evaluation" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_4_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_4">
           <span class="md-nav__icon md-icon"></span>
           Analysis & Evaluation
@@ -629,6 +587,7 @@
   
 
 
+  <h1>Overview</h1>
 
 <!--
  * @Author: Licheng Wen
@@ -724,13 +683,13 @@
         
         
           
-          <a href="../Decision/" class="md-footer__link md-footer__link--next" aria-label="Next: Decision" rel="next">
+          <a href="../../AnalysisAndEvaluation/Database/" class="md-footer__link md-footer__link--next" aria-label="Next: Database" rel="next">
             <div class="md-footer__title">
               <div class="md-ellipsis">
                 <span class="md-footer__direction">
                   Next
                 </span>
-                Decision
+                Database
               </div>
             </div>
             <div class="md-footer__button md-icon">
@@ -762,11 +721,11 @@
       <div class="md-dialog__inner md-typeset"></div>
     </div>
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../assets/javascripts/workers/search.e5c33ebb.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../assets/javascripts/workers/search.208ed371.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
 
-      <script src="../../assets/javascripts/bundle.51d95adb.min.js"></script>
+      <script src="../../assets/javascripts/bundle.efa0ade1.min.js"></script>
       
         <script src="https://polyfill.io/v3/polyfill.min.js?features=es6"></script>
       
diff --git a/DecisionAndPlanning/Planning/index.html b/DecisionAndPlanning/Planning/index.html
index d27368c..0dfbd0f 100644
--- a/DecisionAndPlanning/Planning/index.html
+++ b/DecisionAndPlanning/Planning/index.html
@@ -9,13 +9,9 @@
       
       
       
-        <link rel="prev" href="../Decision/">
-      
-      
-        <link rel="next" href="../Customization/">
       
       <link rel="icon" href="../../assets/images/logo.svg">
-      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.0.5">
+      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.1.3">
     
     
       
@@ -23,10 +19,10 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.558e4712.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.c4a75a56.min.css">
       
         
-        <link rel="stylesheet" href="../../assets/stylesheets/palette.2505c338.min.css">
+        <link rel="stylesheet" href="../../assets/stylesheets/palette.a0c5b2b5.min.css">
       
       
 
@@ -182,7 +178,7 @@
         <a href="https://github.com/PJLab-ADG/LimSim.git" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -201,7 +197,7 @@
           
             
 <nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-tabs__inner md-grid">
+  <div class="md-grid">
     <ul class="md-tabs__list">
       
         
@@ -235,15 +231,13 @@
         
   
   
-    
-  
 
 
   
   
   
     <li class="md-tabs__item">
-      <a href="../Overview/" class="md-tabs__link md-tabs__link--active">
+      <a href="../Overview/" class="md-tabs__link">
         Decision & Planing
       </a>
     </li>
@@ -299,7 +293,7 @@
       <a href="https://github.com/PJLab-ADG/LimSim.git" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -337,16 +331,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_2" type="checkbox" id="__nav_2" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2" >
       
       
       
-        <label class="md-nav__link" for="__nav_2" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_2" id="__nav_2_label" tabindex="0">
           Getting Started
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Getting Started" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_2_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_2">
           <span class="md-nav__icon md-icon"></span>
           Getting Started
@@ -435,25 +429,23 @@
 
   
   
-    
-  
   
     
-    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_3" type="checkbox" id="__nav_3" checked>
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_3" >
       
       
       
-        <label class="md-nav__link" for="__nav_3" tabindex="0" aria-expanded="true">
+        <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
           Decision & Planing
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Decision & Planing" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_3_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_3">
           <span class="md-nav__icon md-icon"></span>
           Decision & Planing
@@ -474,56 +466,6 @@
 
             
           
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../Decision/" class="md-nav__link">
-        Decision
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-    
-  
-  
-    <li class="md-nav__item md-nav__item--active">
-      
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
-      
-      
-      
-      <a href="./" class="md-nav__link md-nav__link--active">
-        Planning
-      </a>
-      
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../Customization/" class="md-nav__link">
-        Customization
-      </a>
-    </li>
-  
-
-            
-          
         </ul>
       </nav>
     </li>
@@ -543,16 +485,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_4" type="checkbox" id="__nav_4" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_4" >
       
       
       
-        <label class="md-nav__link" for="__nav_4" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
           Analysis & Evaluation
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Analysis & Evaluation" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_4_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_4">
           <span class="md-nav__icon md-icon"></span>
           Analysis & Evaluation
@@ -629,6 +571,7 @@
   
 
 
+  <h1>Planning</h1>
 
 
 
@@ -648,42 +591,6 @@
         <footer class="md-footer">
   
     
-      
-      <nav class="md-footer__inner md-grid" aria-label="Footer" >
-        
-          
-          <a href="../Decision/" class="md-footer__link md-footer__link--prev" aria-label="Previous: Decision" rel="prev">
-            <div class="md-footer__button md-icon">
-              <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
-            </div>
-            <div class="md-footer__title">
-              <div class="md-ellipsis">
-                <span class="md-footer__direction">
-                  Previous
-                </span>
-                Decision
-              </div>
-            </div>
-          </a>
-        
-        
-          
-          <a href="../Customization/" class="md-footer__link md-footer__link--next" aria-label="Next: Customization" rel="next">
-            <div class="md-footer__title">
-              <div class="md-ellipsis">
-                <span class="md-footer__direction">
-                  Next
-                </span>
-                Customization
-              </div>
-            </div>
-            <div class="md-footer__button md-icon">
-              <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M4 11v2h12l-5.5 5.5 1.42 1.42L19.84 12l-7.92-7.92L10.5 5.5 16 11H4Z"/></svg>
-            </div>
-          </a>
-        
-      </nav>
-    
   
   <div class="md-footer-meta md-typeset">
     <div class="md-footer-meta__inner md-grid">
@@ -706,11 +613,11 @@
       <div class="md-dialog__inner md-typeset"></div>
     </div>
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../assets/javascripts/workers/search.e5c33ebb.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../assets/javascripts/workers/search.208ed371.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
 
-      <script src="../../assets/javascripts/bundle.51d95adb.min.js"></script>
+      <script src="../../assets/javascripts/bundle.efa0ade1.min.js"></script>
       
         <script src="https://polyfill.io/v3/polyfill.min.js?features=es6"></script>
       
diff --git a/GettingStarted/carla_cosim/index.html b/GettingStarted/carla_cosim/index.html
index 3dbaab3..9fa23ff 100644
--- a/GettingStarted/carla_cosim/index.html
+++ b/GettingStarted/carla_cosim/index.html
@@ -15,7 +15,7 @@
         <link rel="next" href="../otherFunction/">
       
       <link rel="icon" href="../../assets/images/logo.svg">
-      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.0.5">
+      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.1.3">
     
     
       
@@ -23,10 +23,10 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.558e4712.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.c4a75a56.min.css">
       
         
-        <link rel="stylesheet" href="../../assets/stylesheets/palette.2505c338.min.css">
+        <link rel="stylesheet" href="../../assets/stylesheets/palette.a0c5b2b5.min.css">
       
       
 
@@ -187,7 +187,7 @@
         <a href="https://github.com/PJLab-ADG/LimSim.git" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -206,7 +206,7 @@
           
             
 <nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-tabs__inner md-grid">
+  <div class="md-grid">
     <ul class="md-tabs__list">
       
         
@@ -304,7 +304,7 @@
       <a href="https://github.com/PJLab-ADG/LimSim.git" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -344,16 +344,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_2" type="checkbox" id="__nav_2" checked>
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2" checked>
       
       
       
-        <label class="md-nav__link" for="__nav_2" tabindex="0" aria-expanded="true">
+        <label class="md-nav__link" for="__nav_2" id="__nav_2_label" tabindex="0">
           Getting Started
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Getting Started" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_2_label" aria-expanded="true">
         <label class="md-nav__title" for="__nav_2">
           <span class="md-nav__icon md-icon"></span>
           Getting Started
@@ -411,7 +411,7 @@
   
     <li class="md-nav__item md-nav__item--active">
       
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      <input class="md-nav__toggle md-toggle" type="checkbox" id="__toc">
       
       
         
@@ -513,16 +513,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_3" type="checkbox" id="__nav_3" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_3" >
       
       
       
-        <label class="md-nav__link" for="__nav_3" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
           Decision & Planing
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Decision & Planing" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_3_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_3">
           <span class="md-nav__icon md-icon"></span>
           Decision & Planing
@@ -543,48 +543,6 @@
 
             
           
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Decision/" class="md-nav__link">
-        Decision
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Planning/" class="md-nav__link">
-        Planning
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Customization/" class="md-nav__link">
-        Customization
-      </a>
-    </li>
-  
-
-            
-          
         </ul>
       </nav>
     </li>
@@ -604,16 +562,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_4" type="checkbox" id="__nav_4" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_4" >
       
       
       
-        <label class="md-nav__link" for="__nav_4" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
           Analysis & Evaluation
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Analysis & Evaluation" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_4_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_4">
           <span class="md-nav__icon md-icon"></span>
           Analysis & Evaluation
@@ -728,7 +686,6 @@
   
 
 
-
 <h1 id="limsim-sumo-carla-co-simulation">LimSim, SUMO, CARLA Co-Simulation<a class="headerlink" href="#limsim-sumo-carla-co-simulation" title="Permanent link">&para;</a></h1>
 <p><a href="https://carla.org/">CARLA</a> is an open-source autonomous driving simulator with multiple functions including perception, positioning, etc., which can be used to help train various modules of autonomous driving. The <a href="https://carla.readthedocs.io/en/latest/adv_sumo/">SUMO co-simulation</a> function provided by CARLA official allows users to use SUMO to manage the background traffic flow of the simulation, making it possible for LimSim, SUMO, and CARLA to co-simulate.</p>
 <p>Co-simulation is mainly achieved through SUMO's <a href="https://sumo.dlr.de/docs/TraCI/Interfacing_TraCI_from_Python.html#controlling_parallel_simulations_from_the_same_traci_script">Parallel simulation</a> function. After this function is turned on, the main program can simulate as a Server, while the subprogram can receive data as a Client. Therefore, we can run LimSim as the main program and run CARLA's co-simulation as a subprogram.</p>
@@ -780,7 +737,7 @@ <h2 id="step-1-run-carla-co-simulation">Step 1: Run CARLA Co-simulation<a class=
 <div class="highlight"><pre><span></span><code><a id="__codelineno-3-1" name="__codelineno-3-1" href="#__codelineno-3-1"></a><span class="c1"># Terminal 2</span>
 <a id="__codelineno-3-2" name="__codelineno-3-2" href="#__codelineno-3-2"></a><span class="nb">cd</span><span class="w"> </span>../..<span class="w"> </span><span class="c1">#back to carla root dir</span>
 <a id="__codelineno-3-3" name="__codelineno-3-3" href="#__codelineno-3-3"></a><span class="nb">cd</span><span class="w"> </span>Co-Simulation/Sumo
-<a id="__codelineno-3-4" name="__codelineno-3-4" href="#__codelineno-3-4"></a>python3<span class="w"> </span>run_synchronization.py<span class="w"> </span>examples/Town05.sumocfg<span class="w"> </span>--sumo-host<span class="w"> </span><span class="m">127</span>.0.0.1<span class="w">  </span>--sumo-port<span class="w"> </span><span class="m">8813</span><span class="w"> </span>--client-order<span class="w"> </span><span class="m">2</span>
+<a id="__codelineno-3-4" name="__codelineno-3-4" href="#__codelineno-3-4"></a>python3<span class="w"> </span>run_synchronization.py<span class="w"> </span>examples/Town05.sumocfg<span class="w"> </span>--sumo-host<span class="w"> </span><span class="m">127</span>.0.0.1<span class="w">  </span>--sumo-port<span class="w"> </span><span class="m">8813</span>
 </code></pre></div>
 <p>The terminal should continuly output <code>Could not connect to TraCI server at 127.0.0.1:8813 [Errno 111] Connection refused  Retrying in 1 seconds</code>, don't panic,  it means your set up is all done. Now continue to next step!</p>
 <h2 id="step-2-run-limsim-co-simulation">Step 2: Run LimSim Co-simulation<a class="headerlink" href="#step-2-run-limsim-co-simulation" title="Permanent link">&para;</a></h2>
@@ -875,11 +832,11 @@ <h2 id="step-3-optional-change-the-bird-eye-view-in-carla">Step 3:  (Optional) C
       <div class="md-dialog__inner md-typeset"></div>
     </div>
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../assets/javascripts/workers/search.e5c33ebb.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../assets/javascripts/workers/search.208ed371.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
 
-      <script src="../../assets/javascripts/bundle.51d95adb.min.js"></script>
+      <script src="../../assets/javascripts/bundle.efa0ade1.min.js"></script>
       
         <script src="https://polyfill.io/v3/polyfill.min.js?features=es6"></script>
       
diff --git a/GettingStarted/installDeploy/index.html b/GettingStarted/installDeploy/index.html
index 842b02d..ed54b32 100644
--- a/GettingStarted/installDeploy/index.html
+++ b/GettingStarted/installDeploy/index.html
@@ -15,7 +15,7 @@
         <link rel="next" href="../realtimeSim/">
       
       <link rel="icon" href="../../assets/images/logo.svg">
-      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.0.5">
+      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.1.3">
     
     
       
@@ -23,10 +23,10 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.558e4712.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.c4a75a56.min.css">
       
         
-        <link rel="stylesheet" href="../../assets/stylesheets/palette.2505c338.min.css">
+        <link rel="stylesheet" href="../../assets/stylesheets/palette.a0c5b2b5.min.css">
       
       
 
@@ -187,7 +187,7 @@
         <a href="https://github.com/PJLab-ADG/LimSim.git" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -206,7 +206,7 @@
           
             
 <nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-tabs__inner md-grid">
+  <div class="md-grid">
     <ul class="md-tabs__list">
       
         
@@ -304,7 +304,7 @@
       <a href="https://github.com/PJLab-ADG/LimSim.git" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -344,16 +344,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_2" type="checkbox" id="__nav_2" checked>
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2" checked>
       
       
       
-        <label class="md-nav__link" for="__nav_2" tabindex="0" aria-expanded="true">
+        <label class="md-nav__link" for="__nav_2" id="__nav_2_label" tabindex="0">
           Getting Started
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Getting Started" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_2_label" aria-expanded="true">
         <label class="md-nav__title" for="__nav_2">
           <span class="md-nav__icon md-icon"></span>
           Getting Started
@@ -369,7 +369,7 @@
   
     <li class="md-nav__item md-nav__item--active">
       
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      <input class="md-nav__toggle md-toggle" type="checkbox" id="__toc">
       
       
       
@@ -495,16 +495,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_3" type="checkbox" id="__nav_3" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_3" >
       
       
       
-        <label class="md-nav__link" for="__nav_3" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
           Decision & Planing
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Decision & Planing" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_3_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_3">
           <span class="md-nav__icon md-icon"></span>
           Decision & Planing
@@ -525,48 +525,6 @@
 
             
           
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Decision/" class="md-nav__link">
-        Decision
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Planning/" class="md-nav__link">
-        Planning
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Customization/" class="md-nav__link">
-        Customization
-      </a>
-    </li>
-  
-
-            
-          
         </ul>
       </nav>
     </li>
@@ -586,16 +544,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_4" type="checkbox" id="__nav_4" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_4" >
       
       
       
-        <label class="md-nav__link" for="__nav_4" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
           Analysis & Evaluation
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Analysis & Evaluation" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_4_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_4">
           <span class="md-nav__icon md-icon"></span>
           Analysis & Evaluation
@@ -694,7 +652,6 @@
   
 
 
-
   <h1>Installation & Deployment</h1>
 
 <p>LimSim is a microsimulation software designed for testing decision-planning algorithms. It allows for long-duration simulations that combine macroscopic and microscopic aspects.</p>
@@ -793,11 +750,11 @@ <h2 id="simulation-examples">Simulation Examples<a class="headerlink" href="#sim
       <div class="md-dialog__inner md-typeset"></div>
     </div>
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../assets/javascripts/workers/search.e5c33ebb.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../assets/javascripts/workers/search.208ed371.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
 
-      <script src="../../assets/javascripts/bundle.51d95adb.min.js"></script>
+      <script src="../../assets/javascripts/bundle.efa0ade1.min.js"></script>
       
         <script src="https://polyfill.io/v3/polyfill.min.js?features=es6"></script>
       
diff --git a/GettingStarted/otherFunction/index.html b/GettingStarted/otherFunction/index.html
index 40eecb2..a203c97 100644
--- a/GettingStarted/otherFunction/index.html
+++ b/GettingStarted/otherFunction/index.html
@@ -15,7 +15,7 @@
         <link rel="next" href="../../DecisionAndPlanning/Overview/">
       
       <link rel="icon" href="../../assets/images/logo.svg">
-      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.0.5">
+      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.1.3">
     
     
       
@@ -23,10 +23,10 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.558e4712.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.c4a75a56.min.css">
       
         
-        <link rel="stylesheet" href="../../assets/stylesheets/palette.2505c338.min.css">
+        <link rel="stylesheet" href="../../assets/stylesheets/palette.a0c5b2b5.min.css">
       
       
 
@@ -187,7 +187,7 @@
         <a href="https://github.com/PJLab-ADG/LimSim.git" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -206,7 +206,7 @@
           
             
 <nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-tabs__inner md-grid">
+  <div class="md-grid">
     <ul class="md-tabs__list">
       
         
@@ -304,7 +304,7 @@
       <a href="https://github.com/PJLab-ADG/LimSim.git" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -344,16 +344,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_2" type="checkbox" id="__nav_2" checked>
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2" checked>
       
       
       
-        <label class="md-nav__link" for="__nav_2" tabindex="0" aria-expanded="true">
+        <label class="md-nav__link" for="__nav_2" id="__nav_2_label" tabindex="0">
           Getting Started
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Getting Started" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_2_label" aria-expanded="true">
         <label class="md-nav__title" for="__nav_2">
           <span class="md-nav__icon md-icon"></span>
           Getting Started
@@ -425,7 +425,7 @@
   
     <li class="md-nav__item md-nav__item--active">
       
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      <input class="md-nav__toggle md-toggle" type="checkbox" id="__toc">
       
       
       
@@ -502,16 +502,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_3" type="checkbox" id="__nav_3" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_3" >
       
       
       
-        <label class="md-nav__link" for="__nav_3" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
           Decision & Planing
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Decision & Planing" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_3_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_3">
           <span class="md-nav__icon md-icon"></span>
           Decision & Planing
@@ -532,48 +532,6 @@
 
             
           
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Decision/" class="md-nav__link">
-        Decision
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Planning/" class="md-nav__link">
-        Planning
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Customization/" class="md-nav__link">
-        Customization
-      </a>
-    </li>
-  
-
-            
-          
         </ul>
       </nav>
     </li>
@@ -593,16 +551,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_4" type="checkbox" id="__nav_4" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_4" >
       
       
       
-        <label class="md-nav__link" for="__nav_4" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
           Analysis & Evaluation
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Analysis & Evaluation" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_4_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_4">
           <span class="md-nav__icon md-icon"></span>
           Analysis & Evaluation
@@ -708,7 +666,6 @@
   
 
 
-
   <h1>Other Functions</h1>
 
 <p>LimSim also provides some additional features to accommodate different task requirements. Details are as follows:</p>
@@ -796,11 +753,11 @@ <h2 id="simulation-report">Simulation Report<a class="headerlink" href="#simulat
       <div class="md-dialog__inner md-typeset"></div>
     </div>
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../assets/javascripts/workers/search.e5c33ebb.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../assets/javascripts/workers/search.208ed371.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
 
-      <script src="../../assets/javascripts/bundle.51d95adb.min.js"></script>
+      <script src="../../assets/javascripts/bundle.efa0ade1.min.js"></script>
       
         <script src="https://polyfill.io/v3/polyfill.min.js?features=es6"></script>
       
diff --git a/GettingStarted/realtimeSim/index.html b/GettingStarted/realtimeSim/index.html
index ed30256..e7514aa 100644
--- a/GettingStarted/realtimeSim/index.html
+++ b/GettingStarted/realtimeSim/index.html
@@ -15,7 +15,7 @@
         <link rel="next" href="../replayAndIreplay/">
       
       <link rel="icon" href="../../assets/images/logo.svg">
-      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.0.5">
+      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.1.3">
     
     
       
@@ -23,10 +23,10 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.558e4712.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.c4a75a56.min.css">
       
         
-        <link rel="stylesheet" href="../../assets/stylesheets/palette.2505c338.min.css">
+        <link rel="stylesheet" href="../../assets/stylesheets/palette.a0c5b2b5.min.css">
       
       
 
@@ -187,7 +187,7 @@
         <a href="https://github.com/PJLab-ADG/LimSim.git" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -206,7 +206,7 @@
           
             
 <nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-tabs__inner md-grid">
+  <div class="md-grid">
     <ul class="md-tabs__list">
       
         
@@ -304,7 +304,7 @@
       <a href="https://github.com/PJLab-ADG/LimSim.git" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -344,16 +344,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_2" type="checkbox" id="__nav_2" checked>
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2" checked>
       
       
       
-        <label class="md-nav__link" for="__nav_2" tabindex="0" aria-expanded="true">
+        <label class="md-nav__link" for="__nav_2" id="__nav_2_label" tabindex="0">
           Getting Started
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Getting Started" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_2_label" aria-expanded="true">
         <label class="md-nav__title" for="__nav_2">
           <span class="md-nav__icon md-icon"></span>
           Getting Started
@@ -383,7 +383,7 @@
   
     <li class="md-nav__item md-nav__item--active">
       
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      <input class="md-nav__toggle md-toggle" type="checkbox" id="__toc">
       
       
       
@@ -495,16 +495,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_3" type="checkbox" id="__nav_3" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_3" >
       
       
       
-        <label class="md-nav__link" for="__nav_3" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
           Decision & Planing
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Decision & Planing" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_3_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_3">
           <span class="md-nav__icon md-icon"></span>
           Decision & Planing
@@ -525,48 +525,6 @@
 
             
           
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Decision/" class="md-nav__link">
-        Decision
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Planning/" class="md-nav__link">
-        Planning
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Customization/" class="md-nav__link">
-        Customization
-      </a>
-    </li>
-  
-
-            
-          
         </ul>
       </nav>
     </li>
@@ -586,16 +544,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_4" type="checkbox" id="__nav_4" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_4" >
       
       
       
-        <label class="md-nav__link" for="__nav_4" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
           Analysis & Evaluation
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Analysis & Evaluation" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_4_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_4">
           <span class="md-nav__icon md-icon"></span>
           Analysis & Evaluation
@@ -694,7 +652,6 @@
   
 
 
-
   <h1>Real-time Simulation</h1>
 
 <p>Real-time simulation following the Ego vehicle is the fundamental feature of LimSim. To experience it, run the following command:</p>
@@ -778,9 +735,9 @@ <h2 id="example-analysis">Example Analysis<a class="headerlink" href="#example-a
 </li>
 </ol>
 <p>The program's 8th line initializes the model with several main parameters, including <code>egoID</code>, which specifies the ID of the Ego car. In this case, we use SUMO for traffic flow management, and the path information for all vehicles in the network is defined in <code>Town05.rou.xml</code>. Therefore, you can check this file to select a specific car as the Ego car, or you can follow <a href="https://sumo.dlr.de/docs/Definition_of_Vehicles%2C_Vehicle_Types%2C_and_Routes.html#vehicles_and_routes"><img alt="🔗" class="twemoji" src="https://cdnjs.cloudflare.com/ajax/libs/twemoji/14.0.2/svg/1f517.svg" title=":link:" />Customizing Vehicles and Routes</a> to generate vehicles with specific paths for simulation and algorithm testing. The <code>netFile</code> and <code>rouFile</code> represent the network and route files used for simulation, and their generation and definition can be found in the <a href="https://sumo.dlr.de/docs/index.html"><img alt="🔗" class="twemoji" src="https://cdnjs.cloudflare.com/ajax/libs/twemoji/14.0.2/svg/1f517.svg" title=":link:" />SUMO documentation</a>. <code>dataBase</code> is a string specifying the database for recording simulation data.</p>
-<p>The 15th line initializes the trajectory planning algorithm, which includes trajectory prediction, decision-making, planning, and other modules. Here, the basic version of LimSim (default parameters) is used to control the vehicles in the AoI. You can replace any part of it with your own algorithm. For details on customizing algorithms, please refer to <a href="../../DecisionAndPlanning/Customization/"><img alt="📖" class="twemoji" src="https://cdnjs.cloudflare.com/ajax/libs/twemoji/14.0.2/svg/1f4d6.svg" title=":book:" />Customizing Algorithms</a>.</p>
+<p>The 15th line initializes the trajectory planning algorithm, which includes trajectory prediction, decision-making, planning, and other modules. Here, the basic version of LimSim (default parameters) is used to control the vehicles in the AoI. You can replace any part of it with your own algorithm. For details on customizing algorithms.</p>
 <p>The main part of the program runs starting from line 17. <code>model.tpEnd</code> is a boolean variable that indicates whether the Ego has reached the destination, i.e., whether the program has ended. <code>model.moveStep()</code> and <code>model.updateVeh()</code> are used for the simulation update process. The former is used to get information about all traffic participants, and the latter is used to update (control) information about all traffic participants. Thus, between the two functions, the trajectory planning algorithm can control the vehicles in the AoI.</p>
-<p>Since trajectory planning algorithms are typically time-consuming and can provide trajectories for multiple frames in a single planning step, we perform trajectory planning every 5 frames, i.e., <code>if model.timeStep % 5 == 0:</code>. Then, <code>roadgraph, vehicles = model.exportSce()</code> provides information about the current scene around the Ego. <code>roadgraph</code> contains the road network information around the Ego, and <code>vehicles</code> contains information about the surrounding vehicles. The usage of this information can be found in XXXXX. The trajectories returned by the trajectory planning algorithm are then passed back to the simulation through <code>model.setTrajectories()</code>.</p>
+<p>Since trajectory planning algorithms are typically time-consuming and can provide trajectories for multiple frames in a single planning step, we perform trajectory planning every 5 frames, i.e., <code>if model.timeStep % 5 == 0:</code>. Then, <code>roadgraph, vehicles = model.exportSce()</code> provides information about the current scene around the Ego. <code>roadgraph</code> contains the road network information around the Ego, and <code>vehicles</code> contains information about the surrounding vehicles. The trajectories returned by the trajectory planning algorithm are then passed back to the simulation through <code>model.setTrajectories()</code>.</p>
 <p>After running the simulation above, all the data during the simulation will be stored in <code>egoTrackingTest.db</code>, which can be used for replay and analysis. For more information about the database, please refer to <a href="../../AnalysisAndEvaluation/Database/"><img alt="📖" class="twemoji" src="https://cdnjs.cloudflare.com/ajax/libs/twemoji/14.0.2/svg/1f4d6.svg" title=":book:" />Database</a>.</p>
 
 
@@ -857,11 +814,11 @@ <h2 id="example-analysis">Example Analysis<a class="headerlink" href="#example-a
       <div class="md-dialog__inner md-typeset"></div>
     </div>
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../assets/javascripts/workers/search.e5c33ebb.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../assets/javascripts/workers/search.208ed371.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
 
-      <script src="../../assets/javascripts/bundle.51d95adb.min.js"></script>
+      <script src="../../assets/javascripts/bundle.efa0ade1.min.js"></script>
       
         <script src="https://polyfill.io/v3/polyfill.min.js?features=es6"></script>
       
diff --git a/GettingStarted/replayAndIreplay/index.html b/GettingStarted/replayAndIreplay/index.html
index 93ac55f..a1c617b 100644
--- a/GettingStarted/replayAndIreplay/index.html
+++ b/GettingStarted/replayAndIreplay/index.html
@@ -15,7 +15,7 @@
         <link rel="next" href="../carla_cosim/">
       
       <link rel="icon" href="../../assets/images/logo.svg">
-      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.0.5">
+      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.1.3">
     
     
       
@@ -23,10 +23,10 @@
       
     
     
-      <link rel="stylesheet" href="../../assets/stylesheets/main.558e4712.min.css">
+      <link rel="stylesheet" href="../../assets/stylesheets/main.c4a75a56.min.css">
       
         
-        <link rel="stylesheet" href="../../assets/stylesheets/palette.2505c338.min.css">
+        <link rel="stylesheet" href="../../assets/stylesheets/palette.a0c5b2b5.min.css">
       
       
 
@@ -187,7 +187,7 @@
         <a href="https://github.com/PJLab-ADG/LimSim.git" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -206,7 +206,7 @@
           
             
 <nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-tabs__inner md-grid">
+  <div class="md-grid">
     <ul class="md-tabs__list">
       
         
@@ -304,7 +304,7 @@
       <a href="https://github.com/PJLab-ADG/LimSim.git" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -344,16 +344,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_2" type="checkbox" id="__nav_2" checked>
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2" checked>
       
       
       
-        <label class="md-nav__link" for="__nav_2" tabindex="0" aria-expanded="true">
+        <label class="md-nav__link" for="__nav_2" id="__nav_2_label" tabindex="0">
           Getting Started
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Getting Started" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_2_label" aria-expanded="true">
         <label class="md-nav__title" for="__nav_2">
           <span class="md-nav__icon md-icon"></span>
           Getting Started
@@ -397,7 +397,7 @@
   
     <li class="md-nav__item md-nav__item--active">
       
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      <input class="md-nav__toggle md-toggle" type="checkbox" id="__toc">
       
       
       
@@ -522,16 +522,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_3" type="checkbox" id="__nav_3" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_3" >
       
       
       
-        <label class="md-nav__link" for="__nav_3" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
           Decision & Planing
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Decision & Planing" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_3_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_3">
           <span class="md-nav__icon md-icon"></span>
           Decision & Planing
@@ -552,48 +552,6 @@
 
             
           
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Decision/" class="md-nav__link">
-        Decision
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Planning/" class="md-nav__link">
-        Planning
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Customization/" class="md-nav__link">
-        Customization
-      </a>
-    </li>
-  
-
-            
-          
         </ul>
       </nav>
     </li>
@@ -613,16 +571,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_4" type="checkbox" id="__nav_4" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_4" >
       
       
       
-        <label class="md-nav__link" for="__nav_4" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
           Analysis & Evaluation
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Analysis & Evaluation" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_4_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_4">
           <span class="md-nav__icon md-icon"></span>
           Analysis & Evaluation
@@ -748,7 +706,6 @@
   
 
 
-
   <h1>Replay & Interactive Replay</h1>
 
 <p>Replay is an important feature of simulation programs that can help us deeply analyze hazardous and failure scenarios, enabling us to optimize relevant algorithms. LimSim also provides a replay feature, allowing us to replay data generated from real-time simulations. Building upon this, we offer interactive replay functionality to aid algorithm updates and iterations in critical scenarios.</p>
@@ -902,11 +859,11 @@ <h2 id="simulation-example">Simulation example<a class="headerlink" href="#simul
       <div class="md-dialog__inner md-typeset"></div>
     </div>
     
-    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../assets/javascripts/workers/search.e5c33ebb.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../assets/javascripts/workers/search.208ed371.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
 
-      <script src="../../assets/javascripts/bundle.51d95adb.min.js"></script>
+      <script src="../../assets/javascripts/bundle.efa0ade1.min.js"></script>
       
         <script src="https://polyfill.io/v3/polyfill.min.js?features=es6"></script>
       
diff --git a/assets/stylesheets/custom.2fa34c39.min.css b/assets/stylesheets/custom.2fa34c39.min.css
index 17fafc9..1becdb3 100644
--- a/assets/stylesheets/custom.2fa34c39.min.css
+++ b/assets/stylesheets/custom.2fa34c39.min.css
@@ -176,7 +176,7 @@
 }
 
 .mdx-hero h1 {
-    color: #ffffff;
+    color: #242e68;
     font-weight: 700;
     margin-bottom: 1rem;
     font-size: 1.6rem;
diff --git a/en/AnalysisAndEvaluation/Database/index.html b/en/AnalysisAndEvaluation/Database/index.html
index c94e0ca..6ec2d9e 100644
--- a/en/AnalysisAndEvaluation/Database/index.html
+++ b/en/AnalysisAndEvaluation/Database/index.html
@@ -9,13 +9,13 @@
       
       
       
-        <link rel="prev" href="../../DecisionAndPlanning/Customization/">
+        <link rel="prev" href="../../DecisionAndPlanning/Overview/">
       
       
         <link rel="next" href="../Evaluation/">
       
       <link rel="icon" href="../../../assets/images/logo.svg">
-      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.0.5">
+      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.1.3">
     
     
       
@@ -23,10 +23,10 @@
       
     
     
-      <link rel="stylesheet" href="../../../assets/stylesheets/main.558e4712.min.css">
+      <link rel="stylesheet" href="../../../assets/stylesheets/main.c4a75a56.min.css">
       
         
-        <link rel="stylesheet" href="../../../assets/stylesheets/palette.2505c338.min.css">
+        <link rel="stylesheet" href="../../../assets/stylesheets/palette.a0c5b2b5.min.css">
       
       
 
@@ -187,7 +187,7 @@
         <a href="https://github.com/PJLab-ADG/LimSim.git" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -206,7 +206,7 @@
           
             
 <nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-tabs__inner md-grid">
+  <div class="md-grid">
     <ul class="md-tabs__list">
       
         
@@ -304,7 +304,7 @@
       <a href="https://github.com/PJLab-ADG/LimSim.git" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -342,16 +342,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_2" type="checkbox" id="__nav_2" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2" >
       
       
       
-        <label class="md-nav__link" for="__nav_2" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_2" id="__nav_2_label" tabindex="0">
           Getting Started
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Getting Started" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_2_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_2">
           <span class="md-nav__icon md-icon"></span>
           Getting Started
@@ -447,16 +447,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_3" type="checkbox" id="__nav_3" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_3" >
       
       
       
-        <label class="md-nav__link" for="__nav_3" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
           Decision & Planing
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Decision & Planing" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_3_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_3">
           <span class="md-nav__icon md-icon"></span>
           Decision & Planing
@@ -477,48 +477,6 @@
 
             
           
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Decision/" class="md-nav__link">
-        Decision
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Planning/" class="md-nav__link">
-        Planning
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Customization/" class="md-nav__link">
-        Customization
-      </a>
-    </li>
-  
-
-            
-          
         </ul>
       </nav>
     </li>
@@ -540,16 +498,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_4" type="checkbox" id="__nav_4" checked>
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_4" checked>
       
       
       
-        <label class="md-nav__link" for="__nav_4" tabindex="0" aria-expanded="true">
+        <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
           Analysis & Evaluation
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Analysis & Evaluation" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_4_label" aria-expanded="true">
         <label class="md-nav__title" for="__nav_4">
           <span class="md-nav__icon md-icon"></span>
           Analysis & Evaluation
@@ -565,7 +523,7 @@
   
     <li class="md-nav__item md-nav__item--active">
       
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      <input class="md-nav__toggle md-toggle" type="checkbox" id="__toc">
       
       
       
@@ -844,7 +802,6 @@
   
 
 
-
   <h1>Database</h1>
 
 <p>markdown
@@ -1245,7 +1202,7 @@ <h3 id="frameinfo">frameINFO<a class="headerlink" href="#frameinfo" title="Perma
       <nav class="md-footer__inner md-grid" aria-label="Footer" >
         
           
-          <a href="../../DecisionAndPlanning/Customization/" class="md-footer__link md-footer__link--prev" aria-label="Previous: Customization" rel="prev">
+          <a href="../../DecisionAndPlanning/Overview/" class="md-footer__link md-footer__link--prev" aria-label="Previous: Overview" rel="prev">
             <div class="md-footer__button md-icon">
               <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
             </div>
@@ -1254,7 +1211,7 @@ <h3 id="frameinfo">frameINFO<a class="headerlink" href="#frameinfo" title="Perma
                 <span class="md-footer__direction">
                   Previous
                 </span>
-                Customization
+                Overview
               </div>
             </div>
           </a>
@@ -1299,11 +1256,11 @@ <h3 id="frameinfo">frameINFO<a class="headerlink" href="#frameinfo" title="Perma
       <div class="md-dialog__inner md-typeset"></div>
     </div>
     
-    <script id="__config" type="application/json">{"base": "../../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../../assets/javascripts/workers/search.e5c33ebb.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../../assets/javascripts/workers/search.208ed371.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
 
-      <script src="../../../assets/javascripts/bundle.51d95adb.min.js"></script>
+      <script src="../../../assets/javascripts/bundle.efa0ade1.min.js"></script>
       
         <script src="https://polyfill.io/v3/polyfill.min.js?features=es6"></script>
       
diff --git a/en/AnalysisAndEvaluation/Evaluation/index.html b/en/AnalysisAndEvaluation/Evaluation/index.html
index c846f4c..5b6a36b 100644
--- a/en/AnalysisAndEvaluation/Evaluation/index.html
+++ b/en/AnalysisAndEvaluation/Evaluation/index.html
@@ -13,7 +13,7 @@
       
       
       <link rel="icon" href="../../../assets/images/logo.svg">
-      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.0.5">
+      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.1.3">
     
     
       
@@ -21,10 +21,10 @@
       
     
     
-      <link rel="stylesheet" href="../../../assets/stylesheets/main.558e4712.min.css">
+      <link rel="stylesheet" href="../../../assets/stylesheets/main.c4a75a56.min.css">
       
         
-        <link rel="stylesheet" href="../../../assets/stylesheets/palette.2505c338.min.css">
+        <link rel="stylesheet" href="../../../assets/stylesheets/palette.a0c5b2b5.min.css">
       
       
 
@@ -185,7 +185,7 @@
         <a href="https://github.com/PJLab-ADG/LimSim.git" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -204,7 +204,7 @@
           
             
 <nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-tabs__inner md-grid">
+  <div class="md-grid">
     <ul class="md-tabs__list">
       
         
@@ -302,7 +302,7 @@
       <a href="https://github.com/PJLab-ADG/LimSim.git" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -340,16 +340,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_2" type="checkbox" id="__nav_2" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2" >
       
       
       
-        <label class="md-nav__link" for="__nav_2" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_2" id="__nav_2_label" tabindex="0">
           Getting Started
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Getting Started" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_2_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_2">
           <span class="md-nav__icon md-icon"></span>
           Getting Started
@@ -445,16 +445,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_3" type="checkbox" id="__nav_3" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_3" >
       
       
       
-        <label class="md-nav__link" for="__nav_3" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
           Decision & Planing
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Decision & Planing" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_3_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_3">
           <span class="md-nav__icon md-icon"></span>
           Decision & Planing
@@ -475,48 +475,6 @@
 
             
           
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Decision/" class="md-nav__link">
-        Decision
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Planning/" class="md-nav__link">
-        Planning
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Customization/" class="md-nav__link">
-        Customization
-      </a>
-    </li>
-  
-
-            
-          
         </ul>
       </nav>
     </li>
@@ -538,16 +496,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_4" type="checkbox" id="__nav_4" checked>
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_4" checked>
       
       
       
-        <label class="md-nav__link" for="__nav_4" tabindex="0" aria-expanded="true">
+        <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
           Analysis & Evaluation
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Analysis & Evaluation" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_4_label" aria-expanded="true">
         <label class="md-nav__title" for="__nav_4">
           <span class="md-nav__icon md-icon"></span>
           Analysis & Evaluation
@@ -577,7 +535,7 @@
   
     <li class="md-nav__item md-nav__item--active">
       
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      <input class="md-nav__toggle md-toggle" type="checkbox" id="__toc">
       
       
       
@@ -788,7 +746,6 @@
   
 
 
-
   <h1>Evaluation</h1>
 
 <h2 id="evaluation-module">Evaluation Module<a class="headerlink" href="#evaluation-module" title="Permanent link">&para;</a></h2>
@@ -890,11 +847,11 @@ <h3 id="data-retrieval">Data Retrieval<a class="headerlink" href="#data-retrieva
       <div class="md-dialog__inner md-typeset"></div>
     </div>
     
-    <script id="__config" type="application/json">{"base": "../../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../../assets/javascripts/workers/search.e5c33ebb.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../../assets/javascripts/workers/search.208ed371.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
 
-      <script src="../../../assets/javascripts/bundle.51d95adb.min.js"></script>
+      <script src="../../../assets/javascripts/bundle.efa0ade1.min.js"></script>
       
         <script src="https://polyfill.io/v3/polyfill.min.js?features=es6"></script>
       
diff --git a/en/DecisionAndPlanning/Customization/index.html b/en/DecisionAndPlanning/Customization/index.html
index 2edc54b..d33f135 100644
--- a/en/DecisionAndPlanning/Customization/index.html
+++ b/en/DecisionAndPlanning/Customization/index.html
@@ -9,13 +9,9 @@
       
       
       
-        <link rel="prev" href="../Planning/">
-      
-      
-        <link rel="next" href="../../AnalysisAndEvaluation/Database/">
       
       <link rel="icon" href="../../../assets/images/logo.svg">
-      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.0.5">
+      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.1.3">
     
     
       
@@ -23,10 +19,10 @@
       
     
     
-      <link rel="stylesheet" href="../../../assets/stylesheets/main.558e4712.min.css">
+      <link rel="stylesheet" href="../../../assets/stylesheets/main.c4a75a56.min.css">
       
         
-        <link rel="stylesheet" href="../../../assets/stylesheets/palette.2505c338.min.css">
+        <link rel="stylesheet" href="../../../assets/stylesheets/palette.a0c5b2b5.min.css">
       
       
 
@@ -182,7 +178,7 @@
         <a href="https://github.com/PJLab-ADG/LimSim.git" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -201,7 +197,7 @@
           
             
 <nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-tabs__inner md-grid">
+  <div class="md-grid">
     <ul class="md-tabs__list">
       
         
@@ -235,15 +231,13 @@
         
   
   
-    
-  
 
 
   
   
   
     <li class="md-tabs__item">
-      <a href="../Overview/" class="md-tabs__link md-tabs__link--active">
+      <a href="../Overview/" class="md-tabs__link">
         Decision & Planing
       </a>
     </li>
@@ -299,7 +293,7 @@
       <a href="https://github.com/PJLab-ADG/LimSim.git" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -337,16 +331,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_2" type="checkbox" id="__nav_2" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2" >
       
       
       
-        <label class="md-nav__link" for="__nav_2" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_2" id="__nav_2_label" tabindex="0">
           Getting Started
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Getting Started" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_2_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_2">
           <span class="md-nav__icon md-icon"></span>
           Getting Started
@@ -435,25 +429,23 @@
 
   
   
-    
-  
   
     
-    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_3" type="checkbox" id="__nav_3" checked>
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_3" >
       
       
       
-        <label class="md-nav__link" for="__nav_3" tabindex="0" aria-expanded="true">
+        <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
           Decision & Planing
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Decision & Planing" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_3_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_3">
           <span class="md-nav__icon md-icon"></span>
           Decision & Planing
@@ -474,56 +466,6 @@
 
             
           
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../Decision/" class="md-nav__link">
-        Decision
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../Planning/" class="md-nav__link">
-        Planning
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-    
-  
-  
-    <li class="md-nav__item md-nav__item--active">
-      
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
-      
-      
-      
-      <a href="./" class="md-nav__link md-nav__link--active">
-        Customization
-      </a>
-      
-    </li>
-  
-
-            
-          
         </ul>
       </nav>
     </li>
@@ -543,16 +485,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_4" type="checkbox" id="__nav_4" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_4" >
       
       
       
-        <label class="md-nav__link" for="__nav_4" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
           Analysis & Evaluation
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Analysis & Evaluation" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_4_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_4">
           <span class="md-nav__icon md-icon"></span>
           Analysis & Evaluation
@@ -629,6 +571,7 @@
   
 
 
+  <h1>Customization</h1>
 
 
 
@@ -648,42 +591,6 @@
         <footer class="md-footer">
   
     
-      
-      <nav class="md-footer__inner md-grid" aria-label="Footer" >
-        
-          
-          <a href="../Planning/" class="md-footer__link md-footer__link--prev" aria-label="Previous: Planning" rel="prev">
-            <div class="md-footer__button md-icon">
-              <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
-            </div>
-            <div class="md-footer__title">
-              <div class="md-ellipsis">
-                <span class="md-footer__direction">
-                  Previous
-                </span>
-                Planning
-              </div>
-            </div>
-          </a>
-        
-        
-          
-          <a href="../../AnalysisAndEvaluation/Database/" class="md-footer__link md-footer__link--next" aria-label="Next: Database" rel="next">
-            <div class="md-footer__title">
-              <div class="md-ellipsis">
-                <span class="md-footer__direction">
-                  Next
-                </span>
-                Database
-              </div>
-            </div>
-            <div class="md-footer__button md-icon">
-              <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M4 11v2h12l-5.5 5.5 1.42 1.42L19.84 12l-7.92-7.92L10.5 5.5 16 11H4Z"/></svg>
-            </div>
-          </a>
-        
-      </nav>
-    
   
   <div class="md-footer-meta md-typeset">
     <div class="md-footer-meta__inner md-grid">
@@ -706,11 +613,11 @@
       <div class="md-dialog__inner md-typeset"></div>
     </div>
     
-    <script id="__config" type="application/json">{"base": "../../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../../assets/javascripts/workers/search.e5c33ebb.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../../assets/javascripts/workers/search.208ed371.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
 
-      <script src="../../../assets/javascripts/bundle.51d95adb.min.js"></script>
+      <script src="../../../assets/javascripts/bundle.efa0ade1.min.js"></script>
       
         <script src="https://polyfill.io/v3/polyfill.min.js?features=es6"></script>
       
diff --git a/en/DecisionAndPlanning/Decision/index.html b/en/DecisionAndPlanning/Decision/index.html
index 63a6726..743b3ad 100644
--- a/en/DecisionAndPlanning/Decision/index.html
+++ b/en/DecisionAndPlanning/Decision/index.html
@@ -9,13 +9,9 @@
       
       
       
-        <link rel="prev" href="../Overview/">
-      
-      
-        <link rel="next" href="../Planning/">
       
       <link rel="icon" href="../../../assets/images/logo.svg">
-      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.0.5">
+      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.1.3">
     
     
       
@@ -23,10 +19,10 @@
       
     
     
-      <link rel="stylesheet" href="../../../assets/stylesheets/main.558e4712.min.css">
+      <link rel="stylesheet" href="../../../assets/stylesheets/main.c4a75a56.min.css">
       
         
-        <link rel="stylesheet" href="../../../assets/stylesheets/palette.2505c338.min.css">
+        <link rel="stylesheet" href="../../../assets/stylesheets/palette.a0c5b2b5.min.css">
       
       
 
@@ -182,7 +178,7 @@
         <a href="https://github.com/PJLab-ADG/LimSim.git" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -201,7 +197,7 @@
           
             
 <nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-tabs__inner md-grid">
+  <div class="md-grid">
     <ul class="md-tabs__list">
       
         
@@ -235,15 +231,13 @@
         
   
   
-    
-  
 
 
   
   
   
     <li class="md-tabs__item">
-      <a href="../Overview/" class="md-tabs__link md-tabs__link--active">
+      <a href="../Overview/" class="md-tabs__link">
         Decision & Planing
       </a>
     </li>
@@ -299,7 +293,7 @@
       <a href="https://github.com/PJLab-ADG/LimSim.git" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -337,16 +331,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_2" type="checkbox" id="__nav_2" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2" >
       
       
       
-        <label class="md-nav__link" for="__nav_2" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_2" id="__nav_2_label" tabindex="0">
           Getting Started
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Getting Started" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_2_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_2">
           <span class="md-nav__icon md-icon"></span>
           Getting Started
@@ -435,25 +429,23 @@
 
   
   
-    
-  
   
     
-    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_3" type="checkbox" id="__nav_3" checked>
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_3" >
       
       
       
-        <label class="md-nav__link" for="__nav_3" tabindex="0" aria-expanded="true">
+        <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
           Decision & Planing
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Decision & Planing" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_3_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_3">
           <span class="md-nav__icon md-icon"></span>
           Decision & Planing
@@ -474,56 +466,6 @@
 
             
           
-            
-              
-  
-  
-    
-  
-  
-    <li class="md-nav__item md-nav__item--active">
-      
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
-      
-      
-      
-      <a href="./" class="md-nav__link md-nav__link--active">
-        Decision
-      </a>
-      
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../Planning/" class="md-nav__link">
-        Planning
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../Customization/" class="md-nav__link">
-        Customization
-      </a>
-    </li>
-  
-
-            
-          
         </ul>
       </nav>
     </li>
@@ -543,16 +485,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_4" type="checkbox" id="__nav_4" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_4" >
       
       
       
-        <label class="md-nav__link" for="__nav_4" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
           Analysis & Evaluation
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Analysis & Evaluation" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_4_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_4">
           <span class="md-nav__icon md-icon"></span>
           Analysis & Evaluation
@@ -629,6 +571,7 @@
   
 
 
+  <h1>Decision</h1>
 
 
 
@@ -648,42 +591,6 @@
         <footer class="md-footer">
   
     
-      
-      <nav class="md-footer__inner md-grid" aria-label="Footer" >
-        
-          
-          <a href="../Overview/" class="md-footer__link md-footer__link--prev" aria-label="Previous: Overview" rel="prev">
-            <div class="md-footer__button md-icon">
-              <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
-            </div>
-            <div class="md-footer__title">
-              <div class="md-ellipsis">
-                <span class="md-footer__direction">
-                  Previous
-                </span>
-                Overview
-              </div>
-            </div>
-          </a>
-        
-        
-          
-          <a href="../Planning/" class="md-footer__link md-footer__link--next" aria-label="Next: Planning" rel="next">
-            <div class="md-footer__title">
-              <div class="md-ellipsis">
-                <span class="md-footer__direction">
-                  Next
-                </span>
-                Planning
-              </div>
-            </div>
-            <div class="md-footer__button md-icon">
-              <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M4 11v2h12l-5.5 5.5 1.42 1.42L19.84 12l-7.92-7.92L10.5 5.5 16 11H4Z"/></svg>
-            </div>
-          </a>
-        
-      </nav>
-    
   
   <div class="md-footer-meta md-typeset">
     <div class="md-footer-meta__inner md-grid">
@@ -706,11 +613,11 @@
       <div class="md-dialog__inner md-typeset"></div>
     </div>
     
-    <script id="__config" type="application/json">{"base": "../../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../../assets/javascripts/workers/search.e5c33ebb.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../../assets/javascripts/workers/search.208ed371.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
 
-      <script src="../../../assets/javascripts/bundle.51d95adb.min.js"></script>
+      <script src="../../../assets/javascripts/bundle.efa0ade1.min.js"></script>
       
         <script src="https://polyfill.io/v3/polyfill.min.js?features=es6"></script>
       
diff --git a/en/DecisionAndPlanning/Overview/index.html b/en/DecisionAndPlanning/Overview/index.html
index 9f2e8fa..00b589d 100644
--- a/en/DecisionAndPlanning/Overview/index.html
+++ b/en/DecisionAndPlanning/Overview/index.html
@@ -12,10 +12,10 @@
         <link rel="prev" href="../../GettingStarted/otherFunction/">
       
       
-        <link rel="next" href="../Decision/">
+        <link rel="next" href="../../AnalysisAndEvaluation/Database/">
       
       <link rel="icon" href="../../../assets/images/logo.svg">
-      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.0.5">
+      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.1.3">
     
     
       
@@ -23,10 +23,10 @@
       
     
     
-      <link rel="stylesheet" href="../../../assets/stylesheets/main.558e4712.min.css">
+      <link rel="stylesheet" href="../../../assets/stylesheets/main.c4a75a56.min.css">
       
         
-        <link rel="stylesheet" href="../../../assets/stylesheets/palette.2505c338.min.css">
+        <link rel="stylesheet" href="../../../assets/stylesheets/palette.a0c5b2b5.min.css">
       
       
 
@@ -182,7 +182,7 @@
         <a href="https://github.com/PJLab-ADG/LimSim.git" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -201,7 +201,7 @@
           
             
 <nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-tabs__inner md-grid">
+  <div class="md-grid">
     <ul class="md-tabs__list">
       
         
@@ -299,7 +299,7 @@
       <a href="https://github.com/PJLab-ADG/LimSim.git" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -337,16 +337,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_2" type="checkbox" id="__nav_2" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2" >
       
       
       
-        <label class="md-nav__link" for="__nav_2" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_2" id="__nav_2_label" tabindex="0">
           Getting Started
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Getting Started" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_2_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_2">
           <span class="md-nav__icon md-icon"></span>
           Getting Started
@@ -444,16 +444,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_3" type="checkbox" id="__nav_3" checked>
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_3" checked>
       
       
       
-        <label class="md-nav__link" for="__nav_3" tabindex="0" aria-expanded="true">
+        <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
           Decision & Planing
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Decision & Planing" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_3_label" aria-expanded="true">
         <label class="md-nav__title" for="__nav_3">
           <span class="md-nav__icon md-icon"></span>
           Decision & Planing
@@ -469,7 +469,7 @@
   
     <li class="md-nav__item md-nav__item--active">
       
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      <input class="md-nav__toggle md-toggle" type="checkbox" id="__toc">
       
       
       
@@ -482,48 +482,6 @@
 
             
           
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../Decision/" class="md-nav__link">
-        Decision
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../Planning/" class="md-nav__link">
-        Planning
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../Customization/" class="md-nav__link">
-        Customization
-      </a>
-    </li>
-  
-
-            
-          
         </ul>
       </nav>
     </li>
@@ -543,16 +501,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_4" type="checkbox" id="__nav_4" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_4" >
       
       
       
-        <label class="md-nav__link" for="__nav_4" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
           Analysis & Evaluation
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Analysis & Evaluation" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_4_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_4">
           <span class="md-nav__icon md-icon"></span>
           Analysis & Evaluation
@@ -629,6 +587,7 @@
   
 
 
+  <h1>Overview</h1>
 
 <!--
  * @Author: Licheng Wen
@@ -724,13 +683,13 @@
         
         
           
-          <a href="../Decision/" class="md-footer__link md-footer__link--next" aria-label="Next: Decision" rel="next">
+          <a href="../../AnalysisAndEvaluation/Database/" class="md-footer__link md-footer__link--next" aria-label="Next: Database" rel="next">
             <div class="md-footer__title">
               <div class="md-ellipsis">
                 <span class="md-footer__direction">
                   Next
                 </span>
-                Decision
+                Database
               </div>
             </div>
             <div class="md-footer__button md-icon">
@@ -762,11 +721,11 @@
       <div class="md-dialog__inner md-typeset"></div>
     </div>
     
-    <script id="__config" type="application/json">{"base": "../../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../../assets/javascripts/workers/search.e5c33ebb.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../../assets/javascripts/workers/search.208ed371.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
 
-      <script src="../../../assets/javascripts/bundle.51d95adb.min.js"></script>
+      <script src="../../../assets/javascripts/bundle.efa0ade1.min.js"></script>
       
         <script src="https://polyfill.io/v3/polyfill.min.js?features=es6"></script>
       
diff --git a/en/DecisionAndPlanning/Planning/index.html b/en/DecisionAndPlanning/Planning/index.html
index 972b34e..de02371 100644
--- a/en/DecisionAndPlanning/Planning/index.html
+++ b/en/DecisionAndPlanning/Planning/index.html
@@ -9,13 +9,9 @@
       
       
       
-        <link rel="prev" href="../Decision/">
-      
-      
-        <link rel="next" href="../Customization/">
       
       <link rel="icon" href="../../../assets/images/logo.svg">
-      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.0.5">
+      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.1.3">
     
     
       
@@ -23,10 +19,10 @@
       
     
     
-      <link rel="stylesheet" href="../../../assets/stylesheets/main.558e4712.min.css">
+      <link rel="stylesheet" href="../../../assets/stylesheets/main.c4a75a56.min.css">
       
         
-        <link rel="stylesheet" href="../../../assets/stylesheets/palette.2505c338.min.css">
+        <link rel="stylesheet" href="../../../assets/stylesheets/palette.a0c5b2b5.min.css">
       
       
 
@@ -182,7 +178,7 @@
         <a href="https://github.com/PJLab-ADG/LimSim.git" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -201,7 +197,7 @@
           
             
 <nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-tabs__inner md-grid">
+  <div class="md-grid">
     <ul class="md-tabs__list">
       
         
@@ -235,15 +231,13 @@
         
   
   
-    
-  
 
 
   
   
   
     <li class="md-tabs__item">
-      <a href="../Overview/" class="md-tabs__link md-tabs__link--active">
+      <a href="../Overview/" class="md-tabs__link">
         Decision & Planing
       </a>
     </li>
@@ -299,7 +293,7 @@
       <a href="https://github.com/PJLab-ADG/LimSim.git" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -337,16 +331,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_2" type="checkbox" id="__nav_2" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2" >
       
       
       
-        <label class="md-nav__link" for="__nav_2" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_2" id="__nav_2_label" tabindex="0">
           Getting Started
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Getting Started" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_2_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_2">
           <span class="md-nav__icon md-icon"></span>
           Getting Started
@@ -435,25 +429,23 @@
 
   
   
-    
-  
   
     
-    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_3" type="checkbox" id="__nav_3" checked>
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_3" >
       
       
       
-        <label class="md-nav__link" for="__nav_3" tabindex="0" aria-expanded="true">
+        <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
           Decision & Planing
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Decision & Planing" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_3_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_3">
           <span class="md-nav__icon md-icon"></span>
           Decision & Planing
@@ -474,56 +466,6 @@
 
             
           
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../Decision/" class="md-nav__link">
-        Decision
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-    
-  
-  
-    <li class="md-nav__item md-nav__item--active">
-      
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
-      
-      
-      
-      <a href="./" class="md-nav__link md-nav__link--active">
-        Planning
-      </a>
-      
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../Customization/" class="md-nav__link">
-        Customization
-      </a>
-    </li>
-  
-
-            
-          
         </ul>
       </nav>
     </li>
@@ -543,16 +485,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_4" type="checkbox" id="__nav_4" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_4" >
       
       
       
-        <label class="md-nav__link" for="__nav_4" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
           Analysis & Evaluation
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Analysis & Evaluation" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_4_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_4">
           <span class="md-nav__icon md-icon"></span>
           Analysis & Evaluation
@@ -629,6 +571,7 @@
   
 
 
+  <h1>Planning</h1>
 
 
 
@@ -648,42 +591,6 @@
         <footer class="md-footer">
   
     
-      
-      <nav class="md-footer__inner md-grid" aria-label="Footer" >
-        
-          
-          <a href="../Decision/" class="md-footer__link md-footer__link--prev" aria-label="Previous: Decision" rel="prev">
-            <div class="md-footer__button md-icon">
-              <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
-            </div>
-            <div class="md-footer__title">
-              <div class="md-ellipsis">
-                <span class="md-footer__direction">
-                  Previous
-                </span>
-                Decision
-              </div>
-            </div>
-          </a>
-        
-        
-          
-          <a href="../Customization/" class="md-footer__link md-footer__link--next" aria-label="Next: Customization" rel="next">
-            <div class="md-footer__title">
-              <div class="md-ellipsis">
-                <span class="md-footer__direction">
-                  Next
-                </span>
-                Customization
-              </div>
-            </div>
-            <div class="md-footer__button md-icon">
-              <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M4 11v2h12l-5.5 5.5 1.42 1.42L19.84 12l-7.92-7.92L10.5 5.5 16 11H4Z"/></svg>
-            </div>
-          </a>
-        
-      </nav>
-    
   
   <div class="md-footer-meta md-typeset">
     <div class="md-footer-meta__inner md-grid">
@@ -706,11 +613,11 @@
       <div class="md-dialog__inner md-typeset"></div>
     </div>
     
-    <script id="__config" type="application/json">{"base": "../../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../../assets/javascripts/workers/search.e5c33ebb.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../../assets/javascripts/workers/search.208ed371.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
 
-      <script src="../../../assets/javascripts/bundle.51d95adb.min.js"></script>
+      <script src="../../../assets/javascripts/bundle.efa0ade1.min.js"></script>
       
         <script src="https://polyfill.io/v3/polyfill.min.js?features=es6"></script>
       
diff --git a/en/GettingStarted/carla_cosim/index.html b/en/GettingStarted/carla_cosim/index.html
index 29dbddb..42f47a9 100644
--- a/en/GettingStarted/carla_cosim/index.html
+++ b/en/GettingStarted/carla_cosim/index.html
@@ -15,7 +15,7 @@
         <link rel="next" href="../otherFunction/">
       
       <link rel="icon" href="../../../assets/images/logo.svg">
-      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.0.5">
+      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.1.3">
     
     
       
@@ -23,10 +23,10 @@
       
     
     
-      <link rel="stylesheet" href="../../../assets/stylesheets/main.558e4712.min.css">
+      <link rel="stylesheet" href="../../../assets/stylesheets/main.c4a75a56.min.css">
       
         
-        <link rel="stylesheet" href="../../../assets/stylesheets/palette.2505c338.min.css">
+        <link rel="stylesheet" href="../../../assets/stylesheets/palette.a0c5b2b5.min.css">
       
       
 
@@ -187,7 +187,7 @@
         <a href="https://github.com/PJLab-ADG/LimSim.git" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -206,7 +206,7 @@
           
             
 <nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-tabs__inner md-grid">
+  <div class="md-grid">
     <ul class="md-tabs__list">
       
         
@@ -304,7 +304,7 @@
       <a href="https://github.com/PJLab-ADG/LimSim.git" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -344,16 +344,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_2" type="checkbox" id="__nav_2" checked>
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2" checked>
       
       
       
-        <label class="md-nav__link" for="__nav_2" tabindex="0" aria-expanded="true">
+        <label class="md-nav__link" for="__nav_2" id="__nav_2_label" tabindex="0">
           Getting Started
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Getting Started" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_2_label" aria-expanded="true">
         <label class="md-nav__title" for="__nav_2">
           <span class="md-nav__icon md-icon"></span>
           Getting Started
@@ -411,7 +411,7 @@
   
     <li class="md-nav__item md-nav__item--active">
       
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      <input class="md-nav__toggle md-toggle" type="checkbox" id="__toc">
       
       
         
@@ -513,16 +513,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_3" type="checkbox" id="__nav_3" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_3" >
       
       
       
-        <label class="md-nav__link" for="__nav_3" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
           Decision & Planing
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Decision & Planing" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_3_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_3">
           <span class="md-nav__icon md-icon"></span>
           Decision & Planing
@@ -543,48 +543,6 @@
 
             
           
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Decision/" class="md-nav__link">
-        Decision
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Planning/" class="md-nav__link">
-        Planning
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Customization/" class="md-nav__link">
-        Customization
-      </a>
-    </li>
-  
-
-            
-          
         </ul>
       </nav>
     </li>
@@ -604,16 +562,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_4" type="checkbox" id="__nav_4" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_4" >
       
       
       
-        <label class="md-nav__link" for="__nav_4" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
           Analysis & Evaluation
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Analysis & Evaluation" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_4_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_4">
           <span class="md-nav__icon md-icon"></span>
           Analysis & Evaluation
@@ -728,7 +686,6 @@
   
 
 
-
 <h1 id="limsim-sumo-carla-co-simulation">LimSim, SUMO, CARLA Co-Simulation<a class="headerlink" href="#limsim-sumo-carla-co-simulation" title="Permanent link">&para;</a></h1>
 <p><a href="https://carla.org/">CARLA</a> is an open-source autonomous driving simulator with multiple functions including perception, positioning, etc., which can be used to help train various modules of autonomous driving. The <a href="https://carla.readthedocs.io/en/latest/adv_sumo/">SUMO co-simulation</a> function provided by CARLA official allows users to use SUMO to manage the background traffic flow of the simulation, making it possible for LimSim, SUMO, and CARLA to co-simulate.</p>
 <p>Co-simulation is mainly achieved through SUMO's <a href="https://sumo.dlr.de/docs/TraCI/Interfacing_TraCI_from_Python.html#controlling_parallel_simulations_from_the_same_traci_script">Parallel simulation</a> function. After this function is turned on, the main program can simulate as a Server, while the subprogram can receive data as a Client. Therefore, we can run LimSim as the main program and run CARLA's co-simulation as a subprogram.</p>
@@ -780,7 +737,7 @@ <h2 id="step-1-run-carla-co-simulation">Step 1: Run CARLA Co-simulation<a class=
 <div class="highlight"><pre><span></span><code><a id="__codelineno-3-1" name="__codelineno-3-1" href="#__codelineno-3-1"></a><span class="c1"># Terminal 2</span>
 <a id="__codelineno-3-2" name="__codelineno-3-2" href="#__codelineno-3-2"></a><span class="nb">cd</span><span class="w"> </span>../..<span class="w"> </span><span class="c1">#back to carla root dir</span>
 <a id="__codelineno-3-3" name="__codelineno-3-3" href="#__codelineno-3-3"></a><span class="nb">cd</span><span class="w"> </span>Co-Simulation/Sumo
-<a id="__codelineno-3-4" name="__codelineno-3-4" href="#__codelineno-3-4"></a>python3<span class="w"> </span>run_synchronization.py<span class="w"> </span>examples/Town05.sumocfg<span class="w"> </span>--sumo-host<span class="w"> </span><span class="m">127</span>.0.0.1<span class="w">  </span>--sumo-port<span class="w"> </span><span class="m">8813</span><span class="w"> </span>--client-order<span class="w"> </span><span class="m">2</span>
+<a id="__codelineno-3-4" name="__codelineno-3-4" href="#__codelineno-3-4"></a>python3<span class="w"> </span>run_synchronization.py<span class="w"> </span>examples/Town05.sumocfg<span class="w"> </span>--sumo-host<span class="w"> </span><span class="m">127</span>.0.0.1<span class="w">  </span>--sumo-port<span class="w"> </span><span class="m">8813</span>
 </code></pre></div>
 <p>The terminal should continuly output <code>Could not connect to TraCI server at 127.0.0.1:8813 [Errno 111] Connection refused  Retrying in 1 seconds</code>, don't panic,  it means your set up is all done. Now continue to next step!</p>
 <h2 id="step-2-run-limsim-co-simulation">Step 2: Run LimSim Co-simulation<a class="headerlink" href="#step-2-run-limsim-co-simulation" title="Permanent link">&para;</a></h2>
@@ -875,11 +832,11 @@ <h2 id="step-3-optional-change-the-bird-eye-view-in-carla">Step 3:  (Optional) C
       <div class="md-dialog__inner md-typeset"></div>
     </div>
     
-    <script id="__config" type="application/json">{"base": "../../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../../assets/javascripts/workers/search.e5c33ebb.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../../assets/javascripts/workers/search.208ed371.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
 
-      <script src="../../../assets/javascripts/bundle.51d95adb.min.js"></script>
+      <script src="../../../assets/javascripts/bundle.efa0ade1.min.js"></script>
       
         <script src="https://polyfill.io/v3/polyfill.min.js?features=es6"></script>
       
diff --git a/en/GettingStarted/installDeploy/index.html b/en/GettingStarted/installDeploy/index.html
index 1186977..30d4b5d 100644
--- a/en/GettingStarted/installDeploy/index.html
+++ b/en/GettingStarted/installDeploy/index.html
@@ -15,7 +15,7 @@
         <link rel="next" href="../realtimeSim/">
       
       <link rel="icon" href="../../../assets/images/logo.svg">
-      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.0.5">
+      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.1.3">
     
     
       
@@ -23,10 +23,10 @@
       
     
     
-      <link rel="stylesheet" href="../../../assets/stylesheets/main.558e4712.min.css">
+      <link rel="stylesheet" href="../../../assets/stylesheets/main.c4a75a56.min.css">
       
         
-        <link rel="stylesheet" href="../../../assets/stylesheets/palette.2505c338.min.css">
+        <link rel="stylesheet" href="../../../assets/stylesheets/palette.a0c5b2b5.min.css">
       
       
 
@@ -187,7 +187,7 @@
         <a href="https://github.com/PJLab-ADG/LimSim.git" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -206,7 +206,7 @@
           
             
 <nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-tabs__inner md-grid">
+  <div class="md-grid">
     <ul class="md-tabs__list">
       
         
@@ -304,7 +304,7 @@
       <a href="https://github.com/PJLab-ADG/LimSim.git" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -344,16 +344,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_2" type="checkbox" id="__nav_2" checked>
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2" checked>
       
       
       
-        <label class="md-nav__link" for="__nav_2" tabindex="0" aria-expanded="true">
+        <label class="md-nav__link" for="__nav_2" id="__nav_2_label" tabindex="0">
           Getting Started
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Getting Started" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_2_label" aria-expanded="true">
         <label class="md-nav__title" for="__nav_2">
           <span class="md-nav__icon md-icon"></span>
           Getting Started
@@ -369,7 +369,7 @@
   
     <li class="md-nav__item md-nav__item--active">
       
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      <input class="md-nav__toggle md-toggle" type="checkbox" id="__toc">
       
       
       
@@ -495,16 +495,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_3" type="checkbox" id="__nav_3" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_3" >
       
       
       
-        <label class="md-nav__link" for="__nav_3" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
           Decision & Planing
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Decision & Planing" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_3_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_3">
           <span class="md-nav__icon md-icon"></span>
           Decision & Planing
@@ -525,48 +525,6 @@
 
             
           
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Decision/" class="md-nav__link">
-        Decision
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Planning/" class="md-nav__link">
-        Planning
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Customization/" class="md-nav__link">
-        Customization
-      </a>
-    </li>
-  
-
-            
-          
         </ul>
       </nav>
     </li>
@@ -586,16 +544,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_4" type="checkbox" id="__nav_4" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_4" >
       
       
       
-        <label class="md-nav__link" for="__nav_4" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
           Analysis & Evaluation
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Analysis & Evaluation" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_4_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_4">
           <span class="md-nav__icon md-icon"></span>
           Analysis & Evaluation
@@ -694,7 +652,6 @@
   
 
 
-
   <h1>Installation & Deployment</h1>
 
 <p>LimSim is a microsimulation software designed for testing decision-planning algorithms. It allows for long-duration simulations that combine macroscopic and microscopic aspects.</p>
@@ -793,11 +750,11 @@ <h2 id="simulation-examples">Simulation Examples<a class="headerlink" href="#sim
       <div class="md-dialog__inner md-typeset"></div>
     </div>
     
-    <script id="__config" type="application/json">{"base": "../../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../../assets/javascripts/workers/search.e5c33ebb.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../../assets/javascripts/workers/search.208ed371.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
 
-      <script src="../../../assets/javascripts/bundle.51d95adb.min.js"></script>
+      <script src="../../../assets/javascripts/bundle.efa0ade1.min.js"></script>
       
         <script src="https://polyfill.io/v3/polyfill.min.js?features=es6"></script>
       
diff --git a/en/GettingStarted/otherFunction/index.html b/en/GettingStarted/otherFunction/index.html
index ead8991..89a9649 100644
--- a/en/GettingStarted/otherFunction/index.html
+++ b/en/GettingStarted/otherFunction/index.html
@@ -15,7 +15,7 @@
         <link rel="next" href="../../DecisionAndPlanning/Overview/">
       
       <link rel="icon" href="../../../assets/images/logo.svg">
-      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.0.5">
+      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.1.3">
     
     
       
@@ -23,10 +23,10 @@
       
     
     
-      <link rel="stylesheet" href="../../../assets/stylesheets/main.558e4712.min.css">
+      <link rel="stylesheet" href="../../../assets/stylesheets/main.c4a75a56.min.css">
       
         
-        <link rel="stylesheet" href="../../../assets/stylesheets/palette.2505c338.min.css">
+        <link rel="stylesheet" href="../../../assets/stylesheets/palette.a0c5b2b5.min.css">
       
       
 
@@ -187,7 +187,7 @@
         <a href="https://github.com/PJLab-ADG/LimSim.git" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -206,7 +206,7 @@
           
             
 <nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-tabs__inner md-grid">
+  <div class="md-grid">
     <ul class="md-tabs__list">
       
         
@@ -304,7 +304,7 @@
       <a href="https://github.com/PJLab-ADG/LimSim.git" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -344,16 +344,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_2" type="checkbox" id="__nav_2" checked>
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2" checked>
       
       
       
-        <label class="md-nav__link" for="__nav_2" tabindex="0" aria-expanded="true">
+        <label class="md-nav__link" for="__nav_2" id="__nav_2_label" tabindex="0">
           Getting Started
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Getting Started" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_2_label" aria-expanded="true">
         <label class="md-nav__title" for="__nav_2">
           <span class="md-nav__icon md-icon"></span>
           Getting Started
@@ -425,7 +425,7 @@
   
     <li class="md-nav__item md-nav__item--active">
       
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      <input class="md-nav__toggle md-toggle" type="checkbox" id="__toc">
       
       
       
@@ -502,16 +502,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_3" type="checkbox" id="__nav_3" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_3" >
       
       
       
-        <label class="md-nav__link" for="__nav_3" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
           Decision & Planing
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Decision & Planing" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_3_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_3">
           <span class="md-nav__icon md-icon"></span>
           Decision & Planing
@@ -532,48 +532,6 @@
 
             
           
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Decision/" class="md-nav__link">
-        Decision
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Planning/" class="md-nav__link">
-        Planning
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Customization/" class="md-nav__link">
-        Customization
-      </a>
-    </li>
-  
-
-            
-          
         </ul>
       </nav>
     </li>
@@ -593,16 +551,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_4" type="checkbox" id="__nav_4" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_4" >
       
       
       
-        <label class="md-nav__link" for="__nav_4" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
           Analysis & Evaluation
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Analysis & Evaluation" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_4_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_4">
           <span class="md-nav__icon md-icon"></span>
           Analysis & Evaluation
@@ -708,7 +666,6 @@
   
 
 
-
   <h1>Other Functions</h1>
 
 <p>LimSim also provides some additional features to accommodate different task requirements. Details are as follows:</p>
@@ -796,11 +753,11 @@ <h2 id="simulation-report">Simulation Report<a class="headerlink" href="#simulat
       <div class="md-dialog__inner md-typeset"></div>
     </div>
     
-    <script id="__config" type="application/json">{"base": "../../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../../assets/javascripts/workers/search.e5c33ebb.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../../assets/javascripts/workers/search.208ed371.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
 
-      <script src="../../../assets/javascripts/bundle.51d95adb.min.js"></script>
+      <script src="../../../assets/javascripts/bundle.efa0ade1.min.js"></script>
       
         <script src="https://polyfill.io/v3/polyfill.min.js?features=es6"></script>
       
diff --git a/en/GettingStarted/realtimeSim/index.html b/en/GettingStarted/realtimeSim/index.html
index cf33135..24ccc0b 100644
--- a/en/GettingStarted/realtimeSim/index.html
+++ b/en/GettingStarted/realtimeSim/index.html
@@ -15,7 +15,7 @@
         <link rel="next" href="../replayAndIreplay/">
       
       <link rel="icon" href="../../../assets/images/logo.svg">
-      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.0.5">
+      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.1.3">
     
     
       
@@ -23,10 +23,10 @@
       
     
     
-      <link rel="stylesheet" href="../../../assets/stylesheets/main.558e4712.min.css">
+      <link rel="stylesheet" href="../../../assets/stylesheets/main.c4a75a56.min.css">
       
         
-        <link rel="stylesheet" href="../../../assets/stylesheets/palette.2505c338.min.css">
+        <link rel="stylesheet" href="../../../assets/stylesheets/palette.a0c5b2b5.min.css">
       
       
 
@@ -187,7 +187,7 @@
         <a href="https://github.com/PJLab-ADG/LimSim.git" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -206,7 +206,7 @@
           
             
 <nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-tabs__inner md-grid">
+  <div class="md-grid">
     <ul class="md-tabs__list">
       
         
@@ -304,7 +304,7 @@
       <a href="https://github.com/PJLab-ADG/LimSim.git" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -344,16 +344,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_2" type="checkbox" id="__nav_2" checked>
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2" checked>
       
       
       
-        <label class="md-nav__link" for="__nav_2" tabindex="0" aria-expanded="true">
+        <label class="md-nav__link" for="__nav_2" id="__nav_2_label" tabindex="0">
           Getting Started
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Getting Started" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_2_label" aria-expanded="true">
         <label class="md-nav__title" for="__nav_2">
           <span class="md-nav__icon md-icon"></span>
           Getting Started
@@ -383,7 +383,7 @@
   
     <li class="md-nav__item md-nav__item--active">
       
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      <input class="md-nav__toggle md-toggle" type="checkbox" id="__toc">
       
       
       
@@ -495,16 +495,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_3" type="checkbox" id="__nav_3" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_3" >
       
       
       
-        <label class="md-nav__link" for="__nav_3" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
           Decision & Planing
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Decision & Planing" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_3_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_3">
           <span class="md-nav__icon md-icon"></span>
           Decision & Planing
@@ -525,48 +525,6 @@
 
             
           
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Decision/" class="md-nav__link">
-        Decision
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Planning/" class="md-nav__link">
-        Planning
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Customization/" class="md-nav__link">
-        Customization
-      </a>
-    </li>
-  
-
-            
-          
         </ul>
       </nav>
     </li>
@@ -586,16 +544,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_4" type="checkbox" id="__nav_4" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_4" >
       
       
       
-        <label class="md-nav__link" for="__nav_4" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
           Analysis & Evaluation
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Analysis & Evaluation" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_4_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_4">
           <span class="md-nav__icon md-icon"></span>
           Analysis & Evaluation
@@ -694,7 +652,6 @@
   
 
 
-
   <h1>Real-time Simulation</h1>
 
 <p>Real-time simulation following the Ego vehicle is the fundamental feature of LimSim. To experience it, run the following command:</p>
@@ -778,9 +735,9 @@ <h2 id="example-analysis">Example Analysis<a class="headerlink" href="#example-a
 </li>
 </ol>
 <p>The program's 8th line initializes the model with several main parameters, including <code>egoID</code>, which specifies the ID of the Ego car. In this case, we use SUMO for traffic flow management, and the path information for all vehicles in the network is defined in <code>Town05.rou.xml</code>. Therefore, you can check this file to select a specific car as the Ego car, or you can follow <a href="https://sumo.dlr.de/docs/Definition_of_Vehicles%2C_Vehicle_Types%2C_and_Routes.html#vehicles_and_routes"><img alt="🔗" class="twemoji" src="https://cdnjs.cloudflare.com/ajax/libs/twemoji/14.0.2/svg/1f517.svg" title=":link:" />Customizing Vehicles and Routes</a> to generate vehicles with specific paths for simulation and algorithm testing. The <code>netFile</code> and <code>rouFile</code> represent the network and route files used for simulation, and their generation and definition can be found in the <a href="https://sumo.dlr.de/docs/index.html"><img alt="🔗" class="twemoji" src="https://cdnjs.cloudflare.com/ajax/libs/twemoji/14.0.2/svg/1f517.svg" title=":link:" />SUMO documentation</a>. <code>dataBase</code> is a string specifying the database for recording simulation data.</p>
-<p>The 15th line initializes the trajectory planning algorithm, which includes trajectory prediction, decision-making, planning, and other modules. Here, the basic version of LimSim (default parameters) is used to control the vehicles in the AoI. You can replace any part of it with your own algorithm. For details on customizing algorithms, please refer to <a href="../../DecisionAndPlanning/Customization/"><img alt="📖" class="twemoji" src="https://cdnjs.cloudflare.com/ajax/libs/twemoji/14.0.2/svg/1f4d6.svg" title=":book:" />Customizing Algorithms</a>.</p>
+<p>The 15th line initializes the trajectory planning algorithm, which includes trajectory prediction, decision-making, planning, and other modules. Here, the basic version of LimSim (default parameters) is used to control the vehicles in the AoI. You can replace any part of it with your own algorithm. For details on customizing algorithms.</p>
 <p>The main part of the program runs starting from line 17. <code>model.tpEnd</code> is a boolean variable that indicates whether the Ego has reached the destination, i.e., whether the program has ended. <code>model.moveStep()</code> and <code>model.updateVeh()</code> are used for the simulation update process. The former is used to get information about all traffic participants, and the latter is used to update (control) information about all traffic participants. Thus, between the two functions, the trajectory planning algorithm can control the vehicles in the AoI.</p>
-<p>Since trajectory planning algorithms are typically time-consuming and can provide trajectories for multiple frames in a single planning step, we perform trajectory planning every 5 frames, i.e., <code>if model.timeStep % 5 == 0:</code>. Then, <code>roadgraph, vehicles = model.exportSce()</code> provides information about the current scene around the Ego. <code>roadgraph</code> contains the road network information around the Ego, and <code>vehicles</code> contains information about the surrounding vehicles. The usage of this information can be found in XXXXX. The trajectories returned by the trajectory planning algorithm are then passed back to the simulation through <code>model.setTrajectories()</code>.</p>
+<p>Since trajectory planning algorithms are typically time-consuming and can provide trajectories for multiple frames in a single planning step, we perform trajectory planning every 5 frames, i.e., <code>if model.timeStep % 5 == 0:</code>. Then, <code>roadgraph, vehicles = model.exportSce()</code> provides information about the current scene around the Ego. <code>roadgraph</code> contains the road network information around the Ego, and <code>vehicles</code> contains information about the surrounding vehicles. The trajectories returned by the trajectory planning algorithm are then passed back to the simulation through <code>model.setTrajectories()</code>.</p>
 <p>After running the simulation above, all the data during the simulation will be stored in <code>egoTrackingTest.db</code>, which can be used for replay and analysis. For more information about the database, please refer to <a href="../../AnalysisAndEvaluation/Database/"><img alt="📖" class="twemoji" src="https://cdnjs.cloudflare.com/ajax/libs/twemoji/14.0.2/svg/1f4d6.svg" title=":book:" />Database</a>.</p>
 
 
@@ -857,11 +814,11 @@ <h2 id="example-analysis">Example Analysis<a class="headerlink" href="#example-a
       <div class="md-dialog__inner md-typeset"></div>
     </div>
     
-    <script id="__config" type="application/json">{"base": "../../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../../assets/javascripts/workers/search.e5c33ebb.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../../assets/javascripts/workers/search.208ed371.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
 
-      <script src="../../../assets/javascripts/bundle.51d95adb.min.js"></script>
+      <script src="../../../assets/javascripts/bundle.efa0ade1.min.js"></script>
       
         <script src="https://polyfill.io/v3/polyfill.min.js?features=es6"></script>
       
diff --git a/en/GettingStarted/replayAndIreplay/index.html b/en/GettingStarted/replayAndIreplay/index.html
index d63f44e..9cf13b5 100644
--- a/en/GettingStarted/replayAndIreplay/index.html
+++ b/en/GettingStarted/replayAndIreplay/index.html
@@ -15,7 +15,7 @@
         <link rel="next" href="../carla_cosim/">
       
       <link rel="icon" href="../../../assets/images/logo.svg">
-      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.0.5">
+      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.1.3">
     
     
       
@@ -23,10 +23,10 @@
       
     
     
-      <link rel="stylesheet" href="../../../assets/stylesheets/main.558e4712.min.css">
+      <link rel="stylesheet" href="../../../assets/stylesheets/main.c4a75a56.min.css">
       
         
-        <link rel="stylesheet" href="../../../assets/stylesheets/palette.2505c338.min.css">
+        <link rel="stylesheet" href="../../../assets/stylesheets/palette.a0c5b2b5.min.css">
       
       
 
@@ -187,7 +187,7 @@
         <a href="https://github.com/PJLab-ADG/LimSim.git" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -206,7 +206,7 @@
           
             
 <nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-tabs__inner md-grid">
+  <div class="md-grid">
     <ul class="md-tabs__list">
       
         
@@ -304,7 +304,7 @@
       <a href="https://github.com/PJLab-ADG/LimSim.git" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -344,16 +344,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_2" type="checkbox" id="__nav_2" checked>
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2" checked>
       
       
       
-        <label class="md-nav__link" for="__nav_2" tabindex="0" aria-expanded="true">
+        <label class="md-nav__link" for="__nav_2" id="__nav_2_label" tabindex="0">
           Getting Started
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Getting Started" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_2_label" aria-expanded="true">
         <label class="md-nav__title" for="__nav_2">
           <span class="md-nav__icon md-icon"></span>
           Getting Started
@@ -397,7 +397,7 @@
   
     <li class="md-nav__item md-nav__item--active">
       
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      <input class="md-nav__toggle md-toggle" type="checkbox" id="__toc">
       
       
       
@@ -522,16 +522,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_3" type="checkbox" id="__nav_3" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_3" >
       
       
       
-        <label class="md-nav__link" for="__nav_3" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
           Decision & Planing
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Decision & Planing" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_3_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_3">
           <span class="md-nav__icon md-icon"></span>
           Decision & Planing
@@ -552,48 +552,6 @@
 
             
           
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Decision/" class="md-nav__link">
-        Decision
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Planning/" class="md-nav__link">
-        Planning
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Customization/" class="md-nav__link">
-        Customization
-      </a>
-    </li>
-  
-
-            
-          
         </ul>
       </nav>
     </li>
@@ -613,16 +571,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_4" type="checkbox" id="__nav_4" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_4" >
       
       
       
-        <label class="md-nav__link" for="__nav_4" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
           Analysis & Evaluation
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Analysis & Evaluation" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_4_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_4">
           <span class="md-nav__icon md-icon"></span>
           Analysis & Evaluation
@@ -748,7 +706,6 @@
   
 
 
-
   <h1>Replay & Interactive Replay</h1>
 
 <p>Replay is an important feature of simulation programs that can help us deeply analyze hazardous and failure scenarios, enabling us to optimize relevant algorithms. LimSim also provides a replay feature, allowing us to replay data generated from real-time simulations. Building upon this, we offer interactive replay functionality to aid algorithm updates and iterations in critical scenarios.</p>
@@ -902,11 +859,11 @@ <h2 id="simulation-example">Simulation example<a class="headerlink" href="#simul
       <div class="md-dialog__inner md-typeset"></div>
     </div>
     
-    <script id="__config" type="application/json">{"base": "../../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../../assets/javascripts/workers/search.e5c33ebb.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "../../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../../assets/javascripts/workers/search.208ed371.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
 
-      <script src="../../../assets/javascripts/bundle.51d95adb.min.js"></script>
+      <script src="../../../assets/javascripts/bundle.efa0ade1.min.js"></script>
       
         <script src="https://polyfill.io/v3/polyfill.min.js?features=es6"></script>
       
diff --git a/en/index.html b/en/index.html
index 351bd70..6c089c7 100644
--- a/en/index.html
+++ b/en/index.html
@@ -13,7 +13,7 @@
         <link rel="next" href="GettingStarted/installDeploy/">
       
       <link rel="icon" href="../assets/images/logo.svg">
-      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.0.5">
+      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.1.3">
     
     
       
@@ -21,10 +21,10 @@
       
     
     
-      <link rel="stylesheet" href="../assets/stylesheets/main.558e4712.min.css">
+      <link rel="stylesheet" href="../assets/stylesheets/main.c4a75a56.min.css">
       
         
-        <link rel="stylesheet" href="../assets/stylesheets/palette.2505c338.min.css">
+        <link rel="stylesheet" href="../assets/stylesheets/palette.a0c5b2b5.min.css">
       
       
 
@@ -180,7 +180,7 @@
         <a href="https://github.com/PJLab-ADG/LimSim.git" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -200,7 +200,7 @@
           
             
 <nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-tabs__inner md-grid">
+  <div class="md-grid">
     <ul class="md-tabs__list">
       
         
@@ -306,13 +306,51 @@
       <div class="mdx-hero__content" style="padding-bottom: 1rem; padding-top: 1rem;">
         <h1>Long-term Interactive Multi-scenario Simulation</h1>
         <p style="text-align: justify;">
-          <font color="white">Welcome! LimSim is an easy-to-use,
+          <font color="#000000">Welcome! LimSim is an easy-to-use,
             decision- & planning-oriented simulation software.</font>
         </p>
         <a href="GettingStarted/installDeploy/" title="Installation &amp; Deployment"
           class="md-button md-button--primary">
           Quick start
         </a>
+        <!-- <br>
+        <a href="https://arxiv.org/abs/2307.06648"><svg width="60" height="60" viewBox="0 0 48 48" fill="none"
+            xmlns="http://www.w3.org/2000/svg">
+            <path d="M10 38V44H38V38" stroke="#4051b5" stroke-width="4" stroke-linecap="round"
+              stroke-linejoin="round" />
+            <path d="M38 20V14L30 4H10V20" stroke="#4051b5" stroke-width="4" stroke-linecap="round"
+              stroke-linejoin="round" />
+            <path d="M28 4V14H38" stroke="#4051b5" stroke-width="4" stroke-linecap="round" stroke-linejoin="round" />
+            <rect x="4" y="20" width="40" height="18" rx="2" stroke="#4051b5" stroke-width="4"
+              stroke-linejoin="round" />
+            <path d="M21 25V33" stroke="#4051b5" stroke-width="4" stroke-linecap="round" />
+            <path d="M10 25V33" stroke="#4051b5" stroke-width="4" stroke-linecap="round" />
+            <path d="M32 33V25H37" stroke="#4051b5" stroke-width="4" stroke-linecap="round" stroke-linejoin="round" />
+            <path d="M32 30H37" stroke="#4051b5" stroke-width="4" stroke-linecap="round" stroke-linejoin="round" />
+            <path d="M10 25H13.5C14.8807 25 16 26.1193 16 27.5V27.5C16 28.8807 14.8807 30 13.5 30H10" stroke="#4051b5"
+              stroke-width="4" stroke-linecap="round" stroke-linejoin="round" />
+            <path d="M21 25H23C25.2091 25 27 26.7909 27 29V29C27 31.2091 25.2091 33 23 33H21" stroke="#4051b5"
+              stroke-width="4" stroke-linecap="round" stroke-linejoin="round" />
+            <path d="M16 12H20" stroke="#4051b5" stroke-width="4" stroke-linecap="round" />
+          </svg></a> &emsp;
+        <a href="https://github.com/PJLab-ADG/LimSim"><svg width="60" height="60" viewBox="0 0 48 48" fill="none"
+            xmlns="http://www.w3.org/2000/svg">
+            <path fill-rule="evenodd" clip-rule="evenodd"
+              d="M24 4C12.9543 4 4 12.9543 4 24C4 35.0457 12.9543 44 24 44C35.0457 44 44 35.0457 44 24C44 12.9543 35.0457 4 24 4ZM0 24C0 10.7452 10.7452 0 24 0C37.2548 0 48 10.7452 48 24C48 37.2548 37.2548 48 24 48C10.7452 48 0 37.2548 0 24Z"
+              fill="#4051b5" />
+            <path fill-rule="evenodd" clip-rule="evenodd"
+              d="M19.1833 45.4716C18.9898 45.2219 18.9898 42.9973 19.1833 38.798C17.1114 38.8696 15.8024 38.7258 15.2563 38.3667C14.437 37.828 13.6169 36.1667 12.8891 34.9959C12.1614 33.8251 10.5463 33.64 9.89405 33.3783C9.24182 33.1165 9.07809 32.0496 11.6913 32.8565C14.3044 33.6634 14.4319 35.8607 15.2563 36.3745C16.0806 36.8883 18.0515 36.6635 18.9448 36.2519C19.8382 35.8403 19.7724 34.3078 19.9317 33.7007C20.1331 33.134 19.4233 33.0083 19.4077 33.0037C18.5355 33.0037 13.9539 32.0073 12.6955 27.5706C11.437 23.134 13.0581 20.2341 13.9229 18.9875C14.4995 18.1564 14.4485 16.3852 13.7699 13.6737C16.2335 13.3589 18.1347 14.1343 19.4734 16.0001C19.4747 16.0108 21.2285 14.9572 24.0003 14.9572C26.772 14.9572 27.7553 15.8154 28.5142 16.0001C29.2731 16.1848 29.88 12.7341 34.5668 13.6737C33.5883 15.5969 32.7689 18.0001 33.3943 18.9875C34.0198 19.9749 36.4745 23.1147 34.9666 27.5706C33.9614 30.5413 31.9853 32.3523 29.0384 33.0037C28.7005 33.1115 28.5315 33.2855 28.5315 33.5255C28.5315 33.8856 28.9884 33.9249 29.6465 35.6117C30.0853 36.7362 30.117 39.948 29.7416 45.247C28.7906 45.4891 28.0508 45.6516 27.5221 45.7347C26.5847 45.882 25.5669 45.9646 24.5669 45.9965C23.5669 46.0284 23.2196 46.0248 21.837 45.8961C20.9154 45.8103 20.0308 45.6688 19.1833 45.4716Z"
+              fill="#4051b5" />
+          </svg></a>&emsp;
+        <a href="https://www.youtube.com/@DTSM_PJADG"><svg width="60" height="60" viewBox="0 0 48 48" fill="none"
+            xmlns="http://www.w3.org/2000/svg">
+            <path
+              d="M11.0637 10.4144C16.6069 10.1381 20.9183 10 23.998 10C27.0781 10 31.3911 10.1382 36.937 10.4145V10.4145C39.9391 10.5641 42.3672 12.9119 42.6176 15.9072C42.8712 18.9412 42.998 21.6134 42.998 23.9238C42.998 26.2626 42.8681 28.972 42.6082 32.0522H42.6082C42.3586 35.0103 39.9833 37.3412 37.021 37.5349C32.2796 37.845 27.9386 38 23.998 38C20.058 38 15.7186 37.845 10.9798 37.5351V37.5351C8.01852 37.3414 5.6437 35.0119 5.39288 32.055C5.12966 28.9518 4.99805 26.2414 4.99805 23.9238C4.99805 21.6341 5.12651 18.961 5.38345 15.9044L5.38346 15.9044C5.63514 12.9103 8.06274 10.564 11.0637 10.4144Z"
+              fill="#4051b5" stroke="#4051b5" stroke-width="4" stroke-linejoin="round" />
+            <path
+              d="M21 19.6092V28.406C21 28.8794 21.3838 29.2631 21.8571 29.2631C22.0252 29.2631 22.1896 29.2137 22.3298 29.1211L28.9274 24.7605C29.3223 24.4995 29.4308 23.9677 29.1698 23.5728C29.1074 23.4784 29.0269 23.3973 28.933 23.3341L22.3354 18.8979C21.9426 18.6337 21.41 18.7381 21.1458 19.1309C21.0508 19.2723 21 19.4388 21 19.6092Z"
+              fill="#FFF" stroke="#FFF" stroke-width="4" stroke-linejoin="round" />
+          </svg></a> -->
       </div>
     </div>
   </div>
@@ -530,7 +568,7 @@ <h3 style="margin-top: .3rem;">
       <a href="https://github.com/PJLab-ADG/LimSim.git" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -551,7 +589,7 @@ <h3 style="margin-top: .3rem;">
   
     <li class="md-nav__item md-nav__item--active">
       
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      <input class="md-nav__toggle md-toggle" type="checkbox" id="__toc">
       
       
       
@@ -576,16 +614,16 @@ <h3 style="margin-top: .3rem;">
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_2" type="checkbox" id="__nav_2" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2" >
       
       
       
-        <label class="md-nav__link" for="__nav_2" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_2" id="__nav_2_label" tabindex="0">
           Getting Started
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Getting Started" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_2_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_2">
           <span class="md-nav__icon md-icon"></span>
           Getting Started
@@ -681,16 +719,16 @@ <h3 style="margin-top: .3rem;">
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_3" type="checkbox" id="__nav_3" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_3" >
       
       
       
-        <label class="md-nav__link" for="__nav_3" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
           Decision & Planing
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Decision & Planing" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_3_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_3">
           <span class="md-nav__icon md-icon"></span>
           Decision & Planing
@@ -711,48 +749,6 @@ <h3 style="margin-top: .3rem;">
 
             
           
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="DecisionAndPlanning/Decision/" class="md-nav__link">
-        Decision
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="DecisionAndPlanning/Planning/" class="md-nav__link">
-        Planning
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="DecisionAndPlanning/Customization/" class="md-nav__link">
-        Customization
-      </a>
-    </li>
-  
-
-            
-          
         </ul>
       </nav>
     </li>
@@ -772,16 +768,16 @@ <h3 style="margin-top: .3rem;">
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_4" type="checkbox" id="__nav_4" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_4" >
       
       
       
-        <label class="md-nav__link" for="__nav_4" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
           Analysis & Evaluation
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Analysis & Evaluation" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_4_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_4">
           <span class="md-nav__icon md-icon"></span>
           Analysis & Evaluation
@@ -865,11 +861,11 @@ <h3 style="margin-top: .3rem;">
       <div class="md-dialog__inner md-typeset"></div>
     </div>
     
-    <script id="__config" type="application/json">{"base": "..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../assets/javascripts/workers/search.e5c33ebb.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": "..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../assets/javascripts/workers/search.208ed371.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
 
-      <script src="../assets/javascripts/bundle.51d95adb.min.js"></script>
+      <script src="../assets/javascripts/bundle.efa0ade1.min.js"></script>
       
         <script src="https://polyfill.io/v3/polyfill.min.js?features=es6"></script>
       
diff --git a/index.html b/index.html
index 14dbe8a..90dd755 100644
--- a/index.html
+++ b/index.html
@@ -13,7 +13,7 @@
         <link rel="next" href="GettingStarted/installDeploy/">
       
       <link rel="icon" href="assets/images/logo.svg">
-      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.0.5">
+      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.1.3">
     
     
       
@@ -21,10 +21,10 @@
       
     
     
-      <link rel="stylesheet" href="assets/stylesheets/main.558e4712.min.css">
+      <link rel="stylesheet" href="assets/stylesheets/main.c4a75a56.min.css">
       
         
-        <link rel="stylesheet" href="assets/stylesheets/palette.2505c338.min.css">
+        <link rel="stylesheet" href="assets/stylesheets/palette.a0c5b2b5.min.css">
       
       
 
@@ -180,7 +180,7 @@
         <a href="https://github.com/PJLab-ADG/LimSim.git" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -200,7 +200,7 @@
           
             
 <nav class="md-tabs" aria-label="Tabs" data-md-component="tabs">
-  <div class="md-tabs__inner md-grid">
+  <div class="md-grid">
     <ul class="md-tabs__list">
       
         
@@ -306,13 +306,51 @@
       <div class="mdx-hero__content" style="padding-bottom: 1rem; padding-top: 1rem;">
         <h1>Long-term Interactive Multi-scenario Simulation</h1>
         <p style="text-align: justify;">
-          <font color="white">Welcome! LimSim is an easy-to-use,
+          <font color="#000000">Welcome! LimSim is an easy-to-use,
             decision- & planning-oriented simulation software.</font>
         </p>
         <a href="GettingStarted/installDeploy/" title="Installation &amp; Deployment"
           class="md-button md-button--primary">
           Quick start
         </a>
+        <!-- <br>
+        <a href="https://arxiv.org/abs/2307.06648"><svg width="60" height="60" viewBox="0 0 48 48" fill="none"
+            xmlns="http://www.w3.org/2000/svg">
+            <path d="M10 38V44H38V38" stroke="#4051b5" stroke-width="4" stroke-linecap="round"
+              stroke-linejoin="round" />
+            <path d="M38 20V14L30 4H10V20" stroke="#4051b5" stroke-width="4" stroke-linecap="round"
+              stroke-linejoin="round" />
+            <path d="M28 4V14H38" stroke="#4051b5" stroke-width="4" stroke-linecap="round" stroke-linejoin="round" />
+            <rect x="4" y="20" width="40" height="18" rx="2" stroke="#4051b5" stroke-width="4"
+              stroke-linejoin="round" />
+            <path d="M21 25V33" stroke="#4051b5" stroke-width="4" stroke-linecap="round" />
+            <path d="M10 25V33" stroke="#4051b5" stroke-width="4" stroke-linecap="round" />
+            <path d="M32 33V25H37" stroke="#4051b5" stroke-width="4" stroke-linecap="round" stroke-linejoin="round" />
+            <path d="M32 30H37" stroke="#4051b5" stroke-width="4" stroke-linecap="round" stroke-linejoin="round" />
+            <path d="M10 25H13.5C14.8807 25 16 26.1193 16 27.5V27.5C16 28.8807 14.8807 30 13.5 30H10" stroke="#4051b5"
+              stroke-width="4" stroke-linecap="round" stroke-linejoin="round" />
+            <path d="M21 25H23C25.2091 25 27 26.7909 27 29V29C27 31.2091 25.2091 33 23 33H21" stroke="#4051b5"
+              stroke-width="4" stroke-linecap="round" stroke-linejoin="round" />
+            <path d="M16 12H20" stroke="#4051b5" stroke-width="4" stroke-linecap="round" />
+          </svg></a> &emsp;
+        <a href="https://github.com/PJLab-ADG/LimSim"><svg width="60" height="60" viewBox="0 0 48 48" fill="none"
+            xmlns="http://www.w3.org/2000/svg">
+            <path fill-rule="evenodd" clip-rule="evenodd"
+              d="M24 4C12.9543 4 4 12.9543 4 24C4 35.0457 12.9543 44 24 44C35.0457 44 44 35.0457 44 24C44 12.9543 35.0457 4 24 4ZM0 24C0 10.7452 10.7452 0 24 0C37.2548 0 48 10.7452 48 24C48 37.2548 37.2548 48 24 48C10.7452 48 0 37.2548 0 24Z"
+              fill="#4051b5" />
+            <path fill-rule="evenodd" clip-rule="evenodd"
+              d="M19.1833 45.4716C18.9898 45.2219 18.9898 42.9973 19.1833 38.798C17.1114 38.8696 15.8024 38.7258 15.2563 38.3667C14.437 37.828 13.6169 36.1667 12.8891 34.9959C12.1614 33.8251 10.5463 33.64 9.89405 33.3783C9.24182 33.1165 9.07809 32.0496 11.6913 32.8565C14.3044 33.6634 14.4319 35.8607 15.2563 36.3745C16.0806 36.8883 18.0515 36.6635 18.9448 36.2519C19.8382 35.8403 19.7724 34.3078 19.9317 33.7007C20.1331 33.134 19.4233 33.0083 19.4077 33.0037C18.5355 33.0037 13.9539 32.0073 12.6955 27.5706C11.437 23.134 13.0581 20.2341 13.9229 18.9875C14.4995 18.1564 14.4485 16.3852 13.7699 13.6737C16.2335 13.3589 18.1347 14.1343 19.4734 16.0001C19.4747 16.0108 21.2285 14.9572 24.0003 14.9572C26.772 14.9572 27.7553 15.8154 28.5142 16.0001C29.2731 16.1848 29.88 12.7341 34.5668 13.6737C33.5883 15.5969 32.7689 18.0001 33.3943 18.9875C34.0198 19.9749 36.4745 23.1147 34.9666 27.5706C33.9614 30.5413 31.9853 32.3523 29.0384 33.0037C28.7005 33.1115 28.5315 33.2855 28.5315 33.5255C28.5315 33.8856 28.9884 33.9249 29.6465 35.6117C30.0853 36.7362 30.117 39.948 29.7416 45.247C28.7906 45.4891 28.0508 45.6516 27.5221 45.7347C26.5847 45.882 25.5669 45.9646 24.5669 45.9965C23.5669 46.0284 23.2196 46.0248 21.837 45.8961C20.9154 45.8103 20.0308 45.6688 19.1833 45.4716Z"
+              fill="#4051b5" />
+          </svg></a>&emsp;
+        <a href="https://www.youtube.com/@DTSM_PJADG"><svg width="60" height="60" viewBox="0 0 48 48" fill="none"
+            xmlns="http://www.w3.org/2000/svg">
+            <path
+              d="M11.0637 10.4144C16.6069 10.1381 20.9183 10 23.998 10C27.0781 10 31.3911 10.1382 36.937 10.4145V10.4145C39.9391 10.5641 42.3672 12.9119 42.6176 15.9072C42.8712 18.9412 42.998 21.6134 42.998 23.9238C42.998 26.2626 42.8681 28.972 42.6082 32.0522H42.6082C42.3586 35.0103 39.9833 37.3412 37.021 37.5349C32.2796 37.845 27.9386 38 23.998 38C20.058 38 15.7186 37.845 10.9798 37.5351V37.5351C8.01852 37.3414 5.6437 35.0119 5.39288 32.055C5.12966 28.9518 4.99805 26.2414 4.99805 23.9238C4.99805 21.6341 5.12651 18.961 5.38345 15.9044L5.38346 15.9044C5.63514 12.9103 8.06274 10.564 11.0637 10.4144Z"
+              fill="#4051b5" stroke="#4051b5" stroke-width="4" stroke-linejoin="round" />
+            <path
+              d="M21 19.6092V28.406C21 28.8794 21.3838 29.2631 21.8571 29.2631C22.0252 29.2631 22.1896 29.2137 22.3298 29.1211L28.9274 24.7605C29.3223 24.4995 29.4308 23.9677 29.1698 23.5728C29.1074 23.4784 29.0269 23.3973 28.933 23.3341L22.3354 18.8979C21.9426 18.6337 21.41 18.7381 21.1458 19.1309C21.0508 19.2723 21 19.4388 21 19.6092Z"
+              fill="#FFF" stroke="#FFF" stroke-width="4" stroke-linejoin="round" />
+          </svg></a> -->
       </div>
     </div>
   </div>
@@ -530,7 +568,7 @@ <h3 style="margin-top: .3rem;">
       <a href="https://github.com/PJLab-ADG/LimSim.git" title="Go to repository" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -551,7 +589,7 @@ <h3 style="margin-top: .3rem;">
   
     <li class="md-nav__item md-nav__item--active">
       
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      <input class="md-nav__toggle md-toggle" type="checkbox" id="__toc">
       
       
       
@@ -576,16 +614,16 @@ <h3 style="margin-top: .3rem;">
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_2" type="checkbox" id="__nav_2" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2" >
       
       
       
-        <label class="md-nav__link" for="__nav_2" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_2" id="__nav_2_label" tabindex="0">
           Getting Started
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Getting Started" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_2_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_2">
           <span class="md-nav__icon md-icon"></span>
           Getting Started
@@ -681,16 +719,16 @@ <h3 style="margin-top: .3rem;">
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_3" type="checkbox" id="__nav_3" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_3" >
       
       
       
-        <label class="md-nav__link" for="__nav_3" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
           Decision & Planing
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Decision & Planing" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_3_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_3">
           <span class="md-nav__icon md-icon"></span>
           Decision & Planing
@@ -711,48 +749,6 @@ <h3 style="margin-top: .3rem;">
 
             
           
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="DecisionAndPlanning/Decision/" class="md-nav__link">
-        Decision
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="DecisionAndPlanning/Planning/" class="md-nav__link">
-        Planning
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="DecisionAndPlanning/Customization/" class="md-nav__link">
-        Customization
-      </a>
-    </li>
-  
-
-            
-          
         </ul>
       </nav>
     </li>
@@ -772,16 +768,16 @@ <h3 style="margin-top: .3rem;">
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_4" type="checkbox" id="__nav_4" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_4" >
       
       
       
-        <label class="md-nav__link" for="__nav_4" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
           Analysis & Evaluation
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Analysis & Evaluation" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_4_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_4">
           <span class="md-nav__icon md-icon"></span>
           Analysis & Evaluation
@@ -865,11 +861,11 @@ <h3 style="margin-top: .3rem;">
       <div class="md-dialog__inner md-typeset"></div>
     </div>
     
-    <script id="__config" type="application/json">{"base": ".", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "assets/javascripts/workers/search.e5c33ebb.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    <script id="__config" type="application/json">{"base": ".", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "assets/javascripts/workers/search.208ed371.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
     
     
 
-      <script src="assets/javascripts/bundle.51d95adb.min.js"></script>
+      <script src="assets/javascripts/bundle.efa0ade1.min.js"></script>
       
         <script src="https://polyfill.io/v3/polyfill.min.js?features=es6"></script>
       
diff --git a/logger/__pycache__/__init__.cpython-39.pyc b/logger/__pycache__/__init__.cpython-39.pyc
deleted file mode 100644
index 889d1f9b6cc1f33a657dac7dfea3480e1178bddd..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 163
zcmYe~<>g`kf_q2Tr-%XR#~=<eU;=U+fVh|kNTe{NFy=6XFr+XAGiWluWCRLnGTvg;
z@&l4=Ir-`7sYNRpidcZcVB(jdenx(7s(yK5WnQX&a(+sxzE5UuaAt0NKxtA=X0kp+
hi++53W?p7Ve7s&k<t+}I-29Z%oK!oI;h%w+0RTU(Cp`cF

diff --git a/logger/__pycache__/logger.cpython-39.pyc b/logger/__pycache__/logger.cpython-39.pyc
deleted file mode 100644
index a227d9e6959b8caad98da753c1ce48a7c5f52475..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 1881
zcmbVMPjA~c6c_c+wqiE}))mE0M1jH)mfFCMMpw*B?JR@m1WvjFDhfe18QXy@86?#p
znRDxP=UsY8jynz5ci5NEVV9lu6$TXBBPl1blU+tZ?+@R5Ka!7+FRIl%1I8b}|4P0p
z8OEPdxjkUc_!@rx1CUn+F$ju{KywrzVg@F)s7<Wr1~rLI9O53^Fk?{%e&fU?r4J4%
zlgfK1C>1l_2a{}&>U%pV6Le_!wZ8z{=m%E&;2_@w6883YcRPcy-~PUnJ1;xmyxQ%a
z*P{76By^aK8*w`JoqPk>n6fa5W;AzV`i{oAmvI_$LDEd*mE&nlwbf-*WGorka-m|B
zflGY{em(&rj7zjIuF!?OurJL8x<W|KSp=jDM;Ise!XhTIeljoIg?s5N9O(hRpee~@
z1pG^)d{Tjk(xSBDQ_|jWUOW2DG>j3Wk)Sxj`WT*vVYJzpx0EEcTL;8jT(E7N&c!rM
zqS$X?d2E~>V=<wHV*|gW$59pwjzx;s^4PdRm6^JWH%b%1(ima^5b`(A1Xf91g{`aW
zsNcZdWc)7X>j?!kb`6(~<<9i|tipDqnA023>#MtqIgi8yp8_gf9vx3P=FvM!Rw19P
z6wH%`&ald>%7D&g3;%eX8ELEU4EB!pcG|sq3opg(RgZ4_NSPI1vvmf8{Q-n3zGi#f
z9`wN^*<OG59wW^Dr+u&A-3Oy&YmxdwT3GQlTYvxPuyX`)TG+l&CmE>MuvTc(WZdYf
z7u8xO7G4)lhbMF-RM`1<Z=P<cl909MKjUv(Pq*YvDV1YTvSiekHjdx)rU`|q7+8|}
z{4IV4+Kh4@jlrIyQy=B_EG5+U@{+7{*g#$xQ=vBzlsSm%QCGStn?*uUmTz=nxo@L{
z#FPb9@VGVwUPQ>!Qacpzx@Lu%Tl|dYt}Z*j%;c+QjwG%mvc=`DerwP)mTLu7RfLmb
zu?IRlEc9Ot_9?{u-E2<M8Eu|MX9;bN;55zNbaptMg$LO%o{pLtwqT9<S^fw%oy|j8
zn<|x|_K=(4p93)-d&omJGXJsd2OxQtjjEEH>@%?XX1)PQ%Zkp%WEUGD8CMJ`Tkxy4
z_6Z2GtqJoAU0SlaLHj}HKc_<xO%rv^8m!KX9-`XHeZA<`qUufF-+^@G|EMojV7|>Z
zV8^T~3A9KfFGD@-Or|mM5ql(OWzscyDD58Diwu4VI+sC)#~uUqD;jJQWDRCP3(Ysf
zFiMhCM6!|cFwE^?n#O^vt4`%uh2L69t*MqPKi6q^A+yZoDjq7ERm()``v}(tpZl@;
F#lOCE`BVS^

diff --git a/search/search_index.json b/search/search_index.json
index ee55dd8..36a27d2 100644
--- a/search/search_index.json
+++ b/search/search_index.json
@@ -1 +1 @@
-{"config":{"lang":["en"],"separator":"[\\s\\-]+","pipeline":["stopWordFilter"]},"docs":[{"location":"","title":"Long-term Macro-micro Interactive Simulation","text":"<p>Welcome to LimSim.</p>"},{"location":"AnalysisAndEvaluation/Database/","title":"Database","text":"<p>markdown LimSim stores all data in the database during simulation to facilitate analysis and evaluation of simulation. LimSim uses a lightweight open-source database SQLite for data storage, which makes it easy to view and migrate data. The storage of simulation data in LimSim is mainly divided into three parts: road network data, vehicle data, and simulation data, which are introduced below.</p>"},{"location":"AnalysisAndEvaluation/Database/#road-network-data","title":"Road Network Data","text":"<p>Based on the SUMO road network, LimSim models multiple types of road network structures. The following tables record road network data. When replaying data, the road network is reconstructed based on the following data.</p>"},{"location":"AnalysisAndEvaluation/Database/#edgeinfo","title":"edgeINFO","text":"Field Data Type Description <code>id</code> TEXT PRIMARY KEY ID of edge <code>laneNumber</code> INT Number of lanes on edge <code>from_junction</code> TEXT ID of starting junction of edge <code>to_junction</code> TEXT ID of ending junction of edge"},{"location":"AnalysisAndEvaluation/Database/#laneinfo","title":"laneINFO","text":"Field Data Type Description <code>id</code> TEXT PRIMARY KEY ID of lane <code>rawShape</code> TEXT Geometric structure of lane centerline <code>width</code> REAL Width of lane <code>maxSpeed</code> REAL Maximum speed of lane <code>edgeID</code> TEXT ID of edge to which lane belongs <code>length</code> REAL Length of lane <p>The <code>rawShape</code> of a lane is stored as a string in the database, separated by spaces and commas, respectively. For example, the following <code>rawShape</code> records three points, which are <code>(10.2, 100.3)</code>, <code>(14.3, 15.4)</code>, and <code>(13.4, 12.6)</code>.</p> <pre><code>10.2,100.3 14.3,15.4 13.4,12.6\n</code></pre>"},{"location":"AnalysisAndEvaluation/Database/#junctionlaneinfo","title":"junctionLaneINFO","text":"<p>In the SUMO road network, there are two types of lanes, one is generated by the user with a specific name. The other is a lane automatically generated by SUMO to connect the first type of lane. These lanes have the property of <code>internal</code>. Here for convenience, we define the second type of lane as the junctionLane. The junctionLane always connects two lanes, and some junctionLanes also have the property of traffic signals.</p> Field Data Type Description <code>id</code> TEXT PRIMARY KEY ID of junctionLane <code>width</code> REAL Width of junctionLane <code>maxSpeed</code> REAL Maximum speed of junctionLane <code>length</code> REAL Length of junctionLane <code>tlLogicID</code> TEXT ID of traffic signal control logic to which junctionLane belongs <code>tlIndex</code> INT Number in the traffic signal control logic to which the junctionLane belongs"},{"location":"AnalysisAndEvaluation/Database/#connectioninfo","title":"connectionINFO","text":"<p>As mentioned earlier, two lanes are connected by a junctionLane, and the connection records this connection relationship.</p> Field Data Type Description <code>fromLane</code> TEXT ID of starting lane <code>toLane</code> TEXT ID of ending lane <code>direction</code> TEXT Direction, refer to XXXX <code>via</code> TEXT ID of junctionLane that connects the two lanes together"},{"location":"AnalysisAndEvaluation/Database/#junctioninfo","title":"junctionINFO","text":"Field Data Type Description <code>id</code> TEXT PRIMARY KEY ID of junction <code>rawShape</code> TEXT Geometric structure of junction <p>Like the <code>rawShape</code> of a lane, the <code>rawShape</code> of a junction is also recorded as a string in the database, separated by spaces and commas, respectively. But the <code>rawShape</code> of the junction records the outer contour of the junction.</p>"},{"location":"AnalysisAndEvaluation/Database/#tllogicinfo","title":"tlLogicINFO","text":"Field Data Type Description <code>id</code> TEXT PRIMARY KEY ID of traffic signal control logic, also corresponding to junction ID <code>tlType</code> TEXT Type of traffic signal control logic, divided into\u00a0<code>static</code>,\u00a0<code>actuated</code>, and\u00a0<code>delay_based</code> <code>preDefPhases</code> TEXT Phases and order of traffic signal control logic, refer to XXX"},{"location":"AnalysisAndEvaluation/Database/#trafficlightstates","title":"trafficLightStates","text":"Field Data Type Description <code>frame</code> INT Current simulation time <code>id</code> TEXT ID of traffic signal control logic <code>currPhase</code> TEXT Current phase <code>nextPhase</code> TEXT Next phase <code>switchTime</code> REAL Remaining duration of current phase"},{"location":"AnalysisAndEvaluation/Database/#vehicle-information","title":"Vehicle Information","text":"<p>Vehicle information is divided into two types: inherent attributes of vehicles and real-time status during simulation.</p>"},{"location":"AnalysisAndEvaluation/Database/#vehicleinfo","title":"vehicleINFO","text":"Field Data Type Description <code>vid</code> INT ID of vehicle <code>length</code> REAL Length of vehicle <code>width</code> REAL Width of vehicle <code>maxAccel</code> REAL Maximum acceleration of vehicle <code>maxDecel</code> REAL Maximum deceleration rate of vehicle <code>maxSpeed</code> REAL Maximum speed of vehicle <code>vTypeID</code> TEXT ID of vehicle model <code>routes</code> TEXT Route information for the vehicle"},{"location":"AnalysisAndEvaluation/Database/#frameinfo","title":"frameINFO","text":"Field Data Type Description <code>frame</code> INT Current simulation time <code>vid</code> INT ID of vehicle <code>vtag</code> TEXT Role of vehicle, can be\u00a0<code>ego</code>,\u00a0<code>AoI</code>, or\u00a0<code>outOfAoI</code> <code>x</code> REAL X position of vehicle at this moment <code>y</code> REAL Y position of vehicle at this moment <code>yaw</code> REAL Yaw angle of vehicle at this moment, with x-axis as a starting point and counterclockwise as a positive direction <code>speed</code> REAL Speed of vehicle at this moment <code>accel</code> REAL Acceleration of vehicle at this moment <code>laneID</code> TEXT ID of lane in which the vehicle is located <code>lanePos</code> REAL Distance from the starting point of the lane to the vehicle at this moment <code>routeIdx</code> INT The number of the current section of the <p>Values processed</p> <p>The above indicators have been normalized and are not real values. For more information, please refer to Scenario Evaluation.</p> <ol> <li> <p>TTC(Time To Collision): refers to how long it will take for two vehicles to collide while they maintain their current speed.\u00a0\u21a9</p> </li> </ol>"},{"location":"AnalysisAndEvaluation/Evaluation/","title":"Evaluation","text":""},{"location":"AnalysisAndEvaluation/Evaluation/#evaluation-module","title":"Evaluation Module","text":"<p>The Evaluation module is used for real-time evaluation of the scenarios in which vehicles are located. It includes five evaluation dimensions, and the evaluation results can be used for decision-making or scenario extraction, providing data for subsequent testing.</p> <p>Now let's introduce these five dimensions one by one.</p>"},{"location":"AnalysisAndEvaluation/Evaluation/#consumption","title":"Consumption","text":"<p>We apply the following formula to calculate the energy consumption of a vehicle:</p> \\[ P = (v * a)^2 + v^3 \\] <p>Here, \\(v\\) and \\(a\\) represent the vehicle's speed and acceleration, respectively.</p> <p>Under free driving (cruising) conditions, the vehicle's speed is relatively high, and the acceleration is relatively small, resulting in higher overall energy consumption, with speed being the dominant factor. In cases where the vehicle needs to brake urgently, the speed decreases sharply, and the acceleration is relatively high, resulting in lower overall energy consumption but with discontinuous changes.</p>"},{"location":"AnalysisAndEvaluation/Evaluation/#collision","title":"Collision","text":"<p>We use the two-dimensional Time-to-Collision (TTC) to calculate possible collisions. The two-dimensional TTC is defined as the time it takes for two vehicles to collide if they continue to travel in their current speed and direction. TTC indicates potential collision risks and can be used to evaluate the safety of trajectory planning algorithms.</p> <p>Here, we have referred to the implementation of nuplan and simplified it according to our data format.</p>"},{"location":"AnalysisAndEvaluation/Evaluation/#orientation","title":"Orientation","text":"<p>We use the deviation of the vehicle from the centerline of the lane (the angle between the velocity direction and the lane centerline) as the orientation.</p> \\[ (\\sin(\\theta_{ego}) - \\sin(\\theta_{ref}))^2 \\] <p>Here, \\(\\theta_{ego}\\) and \\(\\theta_{ref}\\) represent the angles of the ego vehicle and the projection point of the ego vehicle on the reference line (in the world coordinate system). There are three points to note here: 1. For the sake of presentation, we use \\(\\sin\\) for normalization. 2. The meaning of the deviation angle is not significant within the junction, so \\(\\theta_{ref}\\) here actually refers to the \"nearest point on the <code>NormalLane</code> in the historical trajectory\". 3. Also for the sake of presentation, we have added a <code>delay</code> term to make the turning display smoother.</p> <p>Orientation can reflect the turning behavior of the vehicle, especially in scenarios that require unprotected left turns, which can be used to filter out some scenarios for testing based on the Orientation results.</p>"},{"location":"AnalysisAndEvaluation/Evaluation/#discomfort","title":"Discomfort","text":"<p>We use the square of jerk to represent discomfort.</p> \\[ \\left(\\frac{da}{dt}\\right)^2 \\] <p>Here, \\(a\\) represents the acceleration. Jerk can show the impact of sudden braking and sudden acceleration on passengers during vehicle motion.</p>"},{"location":"AnalysisAndEvaluation/Evaluation/#offset","title":"Offset","text":"<p>We use the square of the lateral coordinate \\(d\\) of the vehicle from the centerline of the lane (within the junction, this dimension is not calculated) as the offset.</p> \\[ d^2 \\] <p>Here, \\(d\\) represents the lateral coordinate of the vehicle in the Frenet coordinate system.</p> <p>Offset can be used to detect lane-changing behavior of vehicles. Since LimSim's default planner is based on the Frenet coordinate system, this dimension can be conveniently calculated.</p>"},{"location":"AnalysisAndEvaluation/Evaluation/#visualization","title":"Visualization","text":"<p>We use radar charts (also known as star charts) to visualize the results of the five evaluation dimensions. To ensure consistency in the visualization, we apply appropriate transformations to the results.</p>"},{"location":"AnalysisAndEvaluation/Evaluation/#data-retrieval","title":"Data Retrieval","text":"<p>We store the real-time evaluation results in the database for scenario extraction and analysis. We can use the following code to convert the evaluation results into a <code>DataFrame</code>:</p> <pre><code>from utils.load_data import load_data_from_database\nevaluation_df = load_data_from_data_base(path_to_data_base, 'evaluation')\n</code></pre>"},{"location":"DecisionAndPlanning/Overview/","title":"Overview","text":"<p>In LimSim, the <code>TrafficManager</code> class is used for unified management, mainly responsible for the \"prediction-decision-planning\" (PDP) process of vehicles within the AOI range, and ultimately generates a reasonable, safe, and kinematic-constraint-compliant trajectory for each vehicle.</p> <p>When using it, we need to first initialize the <code>TrafficManager</code> class, and the required parameters for initialization are as follows:</p> Parameter Name Required/Optional Description <code>model</code> Required The simulation model containing Sumo, which should be either\u00a0<code>Model</code>\u00a0or\u00a0<code>ReplayModel</code>\u00a0class. <code>predictor</code> Optional The predictor of the vehicle, which should be a subclass of\u00a0<code>AbstractPredictor</code>. <code>ego_decision</code> Optional The decision maker of the ego vehicle, which should be a subclass of\u00a0<code>AbstractEgoDecisionMaker</code>. <code>ego_planner</code> Optional The planner of the ego vehicle, which should be a subclass of\u00a0<code>AbstractEgoPlanner</code>. <code>multi_decision</code> Optional The joint decision maker for multiple vehicles, which should be a subclass of\u00a0<code>AbstractMultiDecisionMaker</code>. <code>multi_veh_planner</code> Optional The joint planner for multiple vehicles, which should be a subclass of\u00a0<code>AbstractMultiPlanner</code>. <code>config_file_path</code> Optional The configuration file path, which is responsible for storing some important configurable parameters in the PDP process. <p>LimSim has already implemented the method for the entire PDP process in advance, which means that users do not need to fill in any algorithms to run LimSim normally.</p> <p>At the same time, LimSim also supports users to replace parts or all of the algorithms in the PDP process, only need to inherit the given base class and fill in the interface, so that LimSim can have a brand new performance.</p>"},{"location":"GettingStarted/carla_cosim/","title":"LimSim, SUMO, CARLA Co-Simulation","text":"<p>CARLA is an open-source autonomous driving simulator with multiple functions including perception, positioning, etc., which can be used to help train various modules of autonomous driving. The SUMO co-simulation function provided by CARLA official allows users to use SUMO to manage the background traffic flow of the simulation, making it possible for LimSim, SUMO, and CARLA to co-simulate.</p> <p>Co-simulation is mainly achieved through SUMO's Parallel simulation function. After this function is turned on, the main program can simulate as a Server, while the subprogram can receive data as a Client. Therefore, we can run LimSim as the main program and run CARLA's co-simulation as a subprogram.</p>"},{"location":"GettingStarted/carla_cosim/#step-0-install-carla","title":"Step 0: Install CARLA","text":"<p>\u26a0\ufe0f All the instructions are based on Linux, Windows support is not tested and guaranteed.</p> <p>You need to first install CARLA  through package installation, the version of Carla is prefered to 0.9.12+. Please ref the link below:</p> <p>Quick start package installation - CARLA Simulator</p> <p>Then, please make sure SUMO co-simulation with CARLA has configured. Please ref the link below:</p> <p>SUMO - CARLA Simulator</p> <p>Now, you should have a <code>Carla</code> folder besides <code>LimSim</code> folder, and the Carla folder structure should look like:</p> <pre><code>\u251c\u2500\u2500 CarlaUE4\n\u2502   \u251c\u2500\u2500 AssetRegistry.bin\n\u2502   \u251c\u2500\u2500 Binaries\n\u2502   \u251c\u2500\u2500 CarlaUE4.uproject\n\u2502   \u251c\u2500\u2500 Config\n\u2502   \u251c\u2500\u2500 Content\n\u2502   \u2514\u2500\u2500 Plugins\n\u251c\u2500\u2500 CarlaUE4.sh\n\u251c\u2500\u2500 Co-Simulation\n\u2502   \u251c\u2500\u2500 PTV-Vissim\n\u2502   \u2514\u2500\u2500 Sumo\n\u251c\u2500\u2500 PythonAPI\n\u2502   \u251c\u2500\u2500 carla\n\u2502   \u251c\u2500\u2500 examples\n\u2502   \u251c\u2500\u2500 python_api.md\n\u2502   \u2514\u2500\u2500 util\n\u251c\u2500\u2500 README\n\u251c\u2500\u2500 ......\n\u251c\u2500\u2500 ......\n\u2514\u2500\u2500 VERSION\n</code></pre>"},{"location":"GettingStarted/carla_cosim/#step-1-run-carla-co-simulation","title":"Step 1: Run CARLA Co-simulation","text":"<p>You should open two terminal.</p> <pre><code># Terminal 1\ncd path-to-carla/\n./CarlaUE4.sh  -world-port=2000 -resx=400 -resy=300  -quality-level=Epic\n</code></pre> <p>Now you should see CARLA GUI. Then switch to another terminal:</p> <pre><code># Termnial 2\ncd path-to-carla/\ncd PythonAPI/util/\npython3 config.py --map Town05\n</code></pre> <p>Now the map in Carla is successfully switch to <code>Town05</code> map. </p> <pre><code># Terminal 2\ncd ../.. #back to carla root dir\ncd Co-Simulation/Sumo\npython3 run_synchronization.py examples/Town05.sumocfg --sumo-host 127.0.0.1  --sumo-port 8813 --client-order 2\n</code></pre> <p>The terminal should continuly output <code>Could not connect to TraCI server at 127.0.0.1:8813 [Errno 111] Connection refused  Retrying in 1 seconds</code>, don't panic,  it means your set up is all done. Now continue to next step!</p>"},{"location":"GettingStarted/carla_cosim/#step-2-run-limsim-co-simulation","title":"Step 2: Run LimSim Co-simulation","text":"<p>Modify the code in <code>main</code> function in <code>ModelExample.py</code>:</p> <pre><code>if __name__ == \"__main__\":\nnet_file, rou_file = file_paths['CarlaTown05']\nrun_model(net_file, rou_file, ego_veh_id=\"4\", carla_cosim=True)\n</code></pre> <p>Then open a third terminal:</p> <pre><code># Terminal 3\ncd path-to-limsim/\npython ./ModelExample.py\n</code></pre> <p>Then you should see all LimSim/Sumo/CARLA GUIs are start co-simulation.</p> <p>You can use the <code>w</code>,<code>a</code>,<code>s</code>,<code>d</code>,<code>q</code>,<code>e</code> to control the view moving in CARLA.</p>"},{"location":"GettingStarted/carla_cosim/#step-3-optional-change-the-bird-eye-view-in-carla","title":"Step 3:  (Optional) Change the Bird-eye view in CARLA","text":"<p>If you want to make the view in CARLA follow ego car, the file <code>run_synchronization.py</code> in <code>Co-Simulation/Sumo</code> folder needs to be slightly modified.</p> <p>Just download this file  to replace the original <code>run_synchronization.py</code> in your folder and make sure the <code>ego_id = '4'</code> in <code>line 222</code> the id of ego car.</p> <p>Enjoy!</p>"},{"location":"GettingStarted/installDeploy/","title":"Installation & Deployment","text":"<p>LimSim is a microsimulation software designed for testing decision-planning algorithms. It allows for long-duration simulations that combine macroscopic and microscopic aspects.</p>"},{"location":"GettingStarted/installDeploy/#installation-and-deployment","title":"Installation and Deployment","text":"<p>LimSim is primarily written in Python and does not require compilation. You can directly run the source code. However, before running, ensure you have the following development environment:</p> <ul> <li>3.9.0 &lt;= Python &lt;= 3.11.0</li> <li>SUMO &gt;= 1.15.0 (Recommended version: 1.15.0)</li> </ul> <p>After configuring the runtime environment, download the LimSim source code to your local machine:</p> <pre><code>git clone https://github.com/PJLab-ADG/LimSim.git\n</code></pre> <p>Finally, you need to install the required Python extensions:</p> <pre><code>pip install -r requirements.txt\n</code></pre> <p>Now, the local installation and deployment of LimSim are complete.</p>"},{"location":"GettingStarted/installDeploy/#simulation-examples","title":"Simulation Examples","text":"<p>In the root directory, there are several simulation examples that demonstrate LimSim's functionalities. Please visit the following links to learn more details about each feature:</p> <ul> <li>Real-time Simulation</li> <li>Replay and Interactive Replay</li> <li>Other Features</li> </ul>"},{"location":"GettingStarted/otherFunction/","title":"Other Functions","text":"<p>LimSim also provides some additional features to accommodate different task requirements. Details are as follows:</p>"},{"location":"GettingStarted/otherFunction/#fixed-scene-simulation","title":"Fixed Scene Simulation","text":"<p>In addition to long-duration simulation tests following the Ego vehicle, LimSim offers a fixed-view simulation mode. In this mode, the Area of Interest (AoI) does not follow any specific vehicle but remains fixed at a specified location. Vehicles entering the AoI will still be under the control of the decision-planning algorithm. The method for invoking this mode is similar to real-time simulation. To view an example of fixed scene simulation, run <code>FixedSimExample.py</code>. This mode also supports replay and interactive replay functionalities. To view related examples, run <code>FixedSimReplayExample.py</code> and <code>FixedSimInterReplayExample.py</code>. Further details are not elaborated here.</p>"},{"location":"GettingStarted/otherFunction/#keyboard-controlled-decision-making","title":"Keyboard-Controlled Decision Making","text":"<p>LimSim's decision-planning algorithm provides keyboard-controlled functionality. During the execution of the decision-planning algorithm, pressing the <code>&lt;-</code> key on the keyboard will signal the Ego vehicle to make a left lane change decision. If the environment allows, the vehicle will change lanes to the left. Similarly, pressing the <code>-&gt;</code> key will signal the Ego vehicle to make a right lane change decision.</p>"},{"location":"GettingStarted/otherFunction/#simulation-report","title":"Simulation Report","text":"<p>For the database generated by the simulation, LimSim provides an overall analysis and report. Running the following command will generate the report file <code>report/report.md</code>.</p> <pre><code>python utils/report.py egoTrackingTest.db\n</code></pre> <p>The report file is mainly an overall evaluation of the simulation results, such as drawing speed distribution curves and displaying the number of dangerous scenarios.</p>"},{"location":"GettingStarted/realtimeSim/","title":"Real-time Simulation","text":"<p>Real-time simulation following the Ego vehicle is the fundamental feature of LimSim. To experience it, run the following command:</p> <pre><code>cd LimSim\npython ModelExample.py\n</code></pre>"},{"location":"GettingStarted/realtimeSim/#interface-layout","title":"Interface Layout","text":"<p>If the above command runs successfully, the following interface will be displayed:</p> <p></p> <p>The entire graphical interface is divided into five areas. Area A shows the global view of the road network, with a blue circle representing the Area of Interest (AoI) that follows the movement of the Ego vehicle. It displays the real-time position of the Ego vehicle within the entire road network. Area B shows the follow view of the Ego vehicle, with a blue translucent circle representing the AoI, consistent with the circle in Area A. The purple curve in front of the vehicle represents the trajectory provided by the trajectory planning algorithm. Area C is the status display area of the Ego vehicle, showing its real-time speed and acceleration. Note the X-axis coordinates; the zero point is in the middle of the X-axis, representing the current moment. The left half of the zero point shows historical speed and acceleration, while the right half shows future speed and acceleration (i.e., the speed and acceleration provided by the planning algorithm). Additionally, the speed axis's range depends on the road's speed limit. Area D is the simulation information display area, showing the simulation mode, simulation time, the lane where the Ego vehicle is located, and its position on the lane. Area E is the scene evaluation area, which displays real-time evaluations of the scene. For the specific meanings of each indicator, please refer to  \u573a\u666f\u8bc4\u4ef7\u3002</p> <p>AoI (Area of Interest)</p> <p>The AoI can be considered as the perception area of the Ego vehicle. It is a compromise solution made by LimSim to conduct long-duration simulations. Long-duration simulation involves a large road network and a large number of traffic flows, making it impossible to perform trajectory planning for all vehicles. Therefore, the behavior of vehicles inside the AoI is controlled by the decision-planning model, creating diverse and realistic driving environments around the Ego vehicle. Vehicles outside the AoI are controlled by SUMO, following basic traffic rules.</p>"},{"location":"GettingStarted/realtimeSim/#example-analysis","title":"Example Analysis","text":"<p>This simulation example has the following structure:</p> <pre><code>from simModel.egoTracking.model import Model\nfrom trafficManager.traffic_manager import TrafficManager\nnetFile = 'data/networkFiles/CarlaTown05/Town05.net.xml'\nrouFile = 'data/networkFiles/CarlaTown05/carlavtypes.rou.xml,data/networkFiles/CarlaTown05/Town05.rou.xml'\nif __name__ == '__main__': # (1)\nmodel = Model(\negoID = '61', \nnetFile = netFile, \nrouFile = rouFile, \ndataBase = 'egoTrackingTest.db'\n)\nmodel.start()\nplanner = TrafficManager(model)\nwhile not model.tpEnd:\nmodel.moveStep()\nif model.timeStep % 5 == 0:\nroadgraph, vehicles = model.exportSce()\nif model.tpStart and roadgraph:\ntrajectories = planner.plan(\nmodel.timeStep * 0.1, roadgraph, vehicles)\nmodel.setTrajectories(trajectories)\nelse:\nmodel.ego.exitControlMode() # (2)\nmodel.updateVeh()\nmodel.destroy()\n</code></pre> <ol> <li> <p>  On Windows systems, make sure that all model-related code is within the <code>if __name__ == '__main__':</code> scope; otherwise, the program may crash. The main reason for this is that SUMO uses Python's multiprocessing module, and the methods for creating processes differ between Windows and Linux. For more details, please refer to the contexts-and-start-methods in the Python documentation.</p> </li> <li> <p>If you are no longer controlling the Ego, remember to hand control back to SUMO.</p> </li> </ol> <p>The program's 8th line initializes the model with several main parameters, including <code>egoID</code>, which specifies the ID of the Ego car. In this case, we use SUMO for traffic flow management, and the path information for all vehicles in the network is defined in <code>Town05.rou.xml</code>. Therefore, you can check this file to select a specific car as the Ego car, or you can follow Customizing Vehicles and Routes to generate vehicles with specific paths for simulation and algorithm testing. The <code>netFile</code> and <code>rouFile</code> represent the network and route files used for simulation, and their generation and definition can be found in the SUMO documentation. <code>dataBase</code> is a string specifying the database for recording simulation data.</p> <p>The 15th line initializes the trajectory planning algorithm, which includes trajectory prediction, decision-making, planning, and other modules. Here, the basic version of LimSim (default parameters) is used to control the vehicles in the AoI. You can replace any part of it with your own algorithm. For details on customizing algorithms, please refer to Customizing Algorithms.</p> <p>The main part of the program runs starting from line 17. <code>model.tpEnd</code> is a boolean variable that indicates whether the Ego has reached the destination, i.e., whether the program has ended. <code>model.moveStep()</code> and <code>model.updateVeh()</code> are used for the simulation update process. The former is used to get information about all traffic participants, and the latter is used to update (control) information about all traffic participants. Thus, between the two functions, the trajectory planning algorithm can control the vehicles in the AoI.</p> <p>Since trajectory planning algorithms are typically time-consuming and can provide trajectories for multiple frames in a single planning step, we perform trajectory planning every 5 frames, i.e., <code>if model.timeStep % 5 == 0:</code>. Then, <code>roadgraph, vehicles = model.exportSce()</code> provides information about the current scene around the Ego. <code>roadgraph</code> contains the road network information around the Ego, and <code>vehicles</code> contains information about the surrounding vehicles. The usage of this information can be found in XXXXX. The trajectories returned by the trajectory planning algorithm are then passed back to the simulation through <code>model.setTrajectories()</code>.</p> <p>After running the simulation above, all the data during the simulation will be stored in <code>egoTrackingTest.db</code>, which can be used for replay and analysis. For more information about the database, please refer to Database.</p>"},{"location":"GettingStarted/replayAndIreplay/","title":"Replay & Interactive Replay","text":"<p>Replay is an important feature of simulation programs that can help us deeply analyze hazardous and failure scenarios, enabling us to optimize relevant algorithms. LimSim also provides a replay feature, allowing us to replay data generated from real-time simulations. Building upon this, we offer interactive replay functionality to aid algorithm updates and iterations in critical scenarios.</p>"},{"location":"GettingStarted/replayAndIreplay/#simulation-replay","title":"Simulation Replay","text":"<p>In the root directory, running the following command will invoke LimSim's replay feature:</p> <pre><code>python ReplayExample.py\n</code></pre>"},{"location":"GettingStarted/replayAndIreplay/#interface-layout","title":"Interface Layout","text":"<p>The above command will bring up the interface for replay functionality, as shown in the following image:</p> <p></p> <p>As you can see, compared to real-time simulation, the replay interface has an additional control panel. This panel allows controlling the start, pause, and speed of the replay, facilitating a detailed view of critical simulation aspects. Additionally, in Area B, you can see a pink curve in front of the vehicle. This curve represents the future trajectory of the vehicle recorded in the database, and the vehicle will travel precisely along this pink curve. We refer to it as <code>dbTrajectory</code>. On the other hand, the trajectory provided by the trajectory planning algorithm is represented by the purple curve, known as <code>plannedTrajectory</code>. In Area C, when displaying the vehicle's state at time 0, on the right side, it shows the vehicle's speed and acceleration as recorded in the database.</p>"},{"location":"GettingStarted/replayAndIreplay/#example-analysis","title":"Example Analysis","text":"<p>The example code for simulation replay is straightforward, as shown below:</p> <pre><code>rmodel = ReplayModel(dataBase='egoTrackingTest.db')\nwhile not rmodel.tpEnd:\nrmodel.moveStep() # (1)\nrmodel.gui.destroy()\n</code></pre> <ol> <li> Since there is no need to exchange data with SUMO, only running <code>rmodel.moveStep()</code> is sufficient.</li> </ol>"},{"location":"GettingStarted/replayAndIreplay/#interactive-replay","title":"Interactive replay","text":"<p>The initialization of simulation replay only requires specifying the database, and no interaction with external elements is necessary. Therefore, the code in this example is relatively simple.</p> <p>During the process of autonomous driving test simulation, some dangerous and failure scenarios may occur. These scenarios are important sources of data for upgrading autonomous driving tests. Therefore, retesting on dangerous scenarios is an important function. However, if only Ego is re-controlled and the surrounding vehicles do not respond to Ego's behavior, the test loses its original meaning. Therefore, LimSim provides an interactive replay function that allows users to iterate algorithms in dangerous scenarios.</p> <p></p> <p>Interactive simulation requires planning new trajectories for vehicles in the scene, which also requires handling conflicts between new and old trajectories. As shown in the figure above, there is no conflict when the two cars drive according to the original trajectory, but when ego changes its trajectory, it may collide with other vehicles. At this time, other vehicles need to respond to avoid collisions, that is, to drive along the purple trajectory shown in the figure. However, when ego is far away from this scene, the vehicle that was just controlled faces a problem-whether to return to the original trajectory. If it returns to the original trajectory, it will cause a sudden change in position and may cause new conflicts. If it does not return to the original trajectory, the subsequent trajectory of the vehicle will be gone and can only stop in place or disappear.</p> <p>LimSim solves the above problems by dividing them into three sub-problems: 1. When to plan a new trajectory for a vehicle; 2. How long should the planned trajectory last; 3. How to deal with this vehicle after the trajectory planning is over.</p> <p>Firstly, planning a new trajectory for a vehicle is not as early as possible. If a new trajectory is planned for a vehicle as soon as it is generated, then the degree of data utilization is too low and only the position where the vehicle is generated is used. Therefore, LimSim uses collision detection to determine whether a new trajectory needs to be planned for a vehicle. If the original trajectory of a vehicle conflicts with the new trajectory of another vehicle (the vehicle must be within AoI first), then a new trajectory needs to be replanned for the vehicle, otherwise it will maintain its original trajectory.</p> <p>Secondly, after a vehicle loses control, it either jumps back to its original trajectory or stops in place or disappears. These two forms obviously greatly reduce the coherence and effectiveness of simulation. Therefore, LimSim will judge whether the out-of-control vehicle is still within AoI. If the vehicle is still within AoI, even if there is no longer a conflict, LimSim will continue to plan its trajectory until it leaves AoI. This is mainly to ensure that the scene within AoI is coherent, while vehicles outside AoI have little impact on ego.</p> <p>Thirdly, when a vehicle no longer needs interaction and leaves AoI, the control stage ends. At this time, if you let the vehicle return to its original trajectory, it may collide with other vehicles. Therefore LimSim chooses to directly destroy this car. If there is still remaining trajectory of this car in the dataset, it will regenerate this car at the corresponding time. It should be noted that when LimSim generates a vehicle, it will judge whether this car will conflict with existing cars in the road network. If there is no conflict, generate a car; otherwise delay until next time.</p> <p>Collision Detection</p> <p>General collision detection algorithms use separation axis theorem to determine whether two rectangles intersect. This method can determine whether two cars collide at a certain moment. But in simulation we need to leave enough reaction time for vehicles. For example when car A generates there is a car B driving 3 meters ahead even if these two cars do not collide at this moment there is still a high probability of conflict between them in future seconds. Therefore LimSim will use future trajectories (<code>dbTrajectory</code> or <code>plannedTrajectory</code>) of vehicles for collision detection to avoid potential conflicts.</p>"},{"location":"GettingStarted/replayAndIreplay/#simulation-example","title":"Simulation example","text":"<p>After introducing implementation methods run following command can run interactive simulation example:</p> <pre><code>python InterReplayExample.py\n</code></pre> <p>If above command runs normally same graphic interface will be called out as well. The overall structure of graphic interface consistent with real-time simulation only slightly different in B area. As shown below curve in front of car has pink and purple two kinds corresponding respectively <code>dbTrajectory</code> and <code>plannedTrajectory</code> mentioned earlier. If car drives according to database\u2019s trajectory <code>dbTrajectory</code> displays if controlled by decision planning algorithm <code>plannedTrajectory</code> displays.</p> <p></p> <p>Example code as follows:</p> <pre><code>from trafficManager.traffic_manager import TrafficManager\nfrom simModel.egoTracking import interReplay\nirmodel = interReplay.InterReplayModel(\ndataBase='egoTrackingTest.db', \nstartFrame=4000\n)\nplanner = TrafficManager(irmodel)\nwhile not irmodel.tpEnd:\nirmodel.moveStep()\nif irmodel.timeStep % 5 == 0:\nroadgraph, vehicles = irmodel.exportSce()\nif roadgraph:\ntrajectories = planner.plan(\nirmodel.timeStep * 0.1, \nroadgraph, vehicles\n)\nelse:\ntrajectories = {} # (1)\nirmodel.setTrajectories(trajectories)\nelse:\nirmodel.setTrajectories({})\nirmodel.gui.destroy()\n</code></pre> <ol> <li>  When running interactive replay, <code>irmodel.setTrajectories()</code> function is necessary even if no trajectory planned empty dictionary needs to be passed in.</li> </ol> <p>Example code overall not much different from real-time simulation replace road network file and path file with corresponding database.</p>"},{"location":"zh/AnalysisAndEvaluation/Database/","title":"Database","text":"<p>LimSim \u4f1a\u5728\u4eff\u771f\u65f6\u5c06\u6240\u6709\u6570\u636e\u5b58\u50a8\u5728\u6570\u636e\u5e93\u4e2d\uff0c\u65b9\u4fbf\u5bf9\u4eff\u771f\u8fdb\u884c\u5206\u6790\u4e0e\u8bc4\u4ef7\u3002LimSim \u4f7f\u7528\u8f7b\u91cf\u7ea7\u5f00\u6e90\u6570\u636e\u5e93 SQLite \u8fdb\u884c\u6570\u636e\u5b58\u50a8\uff0c\u65b9\u4fbf\u6570\u636e\u7684\u67e5\u770b\u4e0e\u8fc1\u79fb\u3002LimSim \u5bf9\u4eff\u771f\u6570\u636e\u7684\u5b58\u50a8\u4e3b\u8981\u5206\u4e09\u4e2a\u90e8\u5206\uff1a\u8def\u7f51\u6570\u636e\u3001\u8f66\u8f86\u6570\u636e\u548c\u4eff\u771f\u6570\u636e\uff0c\u4e0b\u9762\u5206\u522b\u5bf9\u8fd9\u4e09\u4e2a\u90e8\u5206\u8fdb\u884c\u4ecb\u7ecd\u3002</p>"},{"location":"zh/AnalysisAndEvaluation/Database/#_1","title":"\u8def\u7f51\u6570\u636e","text":"<p>LimSim \u4ee5 SUMO \u7684\u8def\u7f51\u4e3a\u57fa\u7840\uff0c\u5bf9\u591a\u7c7b\u578b\u7684\u8def\u7f51\u7ed3\u6784\u8fdb\u884c\u5efa\u6a21\u3002\u901a\u8fc7\u4ee5\u4e0b\u51e0\u4e2a\u8868\u683c\u8bb0\u5f55\u8def\u7f51\u7684\u6570\u636e\uff0c\u5728\u6570\u636e\u56de\u653e\u65f6\uff0c\u4ee5\u4e0b\u9762\u7684\u6570\u636e\u4e3a\u4f9d\u636e\u8fdb\u884c\u8def\u7f51\u7684\u91cd\u5efa\u3002</p>"},{"location":"zh/AnalysisAndEvaluation/Database/#edgeinfo","title":"edgeINFO","text":"\u5b57\u6bb5 \u6570\u636e\u7ed3\u6784 \u63cf\u8ff0 <code>id</code> TEXT PRIMARY KEY edge \u7684 id <code>laneNumber</code> INT edge \u7684\u8f66\u9053\u6570 <code>from_junction</code> TEXT edge \u7684\u8d77\u70b9\u6240\u5728\u7684 junction <code>to_junction</code> TEXT edge \u7684\u7ec8\u70b9\u6240\u5728\u7684 junction"},{"location":"zh/AnalysisAndEvaluation/Database/#laneinfo","title":"laneINFO","text":"\u5b57\u6bb5 \u6570\u636e\u7ed3\u6784 \u63cf\u8ff0 <code>id</code> TEXT PRIMARY KEY lane \u7684 id <code>rawShape</code> TEXT lane \u7684\u4e2d\u5fc3\u7ebf\u51e0\u4f55\u7ed3\u6784 <code>width</code> REAL lane \u7684\u5bbd\u5ea6 <code>maxSpeed</code> REAL lane \u7684\u6700\u5927\u9650\u901f <code>edgeID</code> TEXT lane \u6240\u5c5e\u7684 edge \u7684 id <code>length</code> REAL lane \u7684\u957f\u5ea6 <p>lane \u7684 <code>rawShape</code> \u662f\u4ee5\u5b57\u7b26\u4e32\u7684\u5f62\u5f0f\u5b58\u653e\u5728\u6570\u636e\u5e93\u4e2d\u7684\uff0c\u4ee5 <code></code> \u548c <code>,</code>  \u4f5c\u4e3a\u5206\u9694\u7b26\u3002\u6bd4\u5982\uff0c\u4e0b\u9762\u7684 <code>rawShape</code> \u5c31\u8bb0\u5f55\u4e86\u4e09\u4e2a\u70b9\uff0c\u5206\u522b\u662f <code>(10.2,100.3)</code>\uff0c<code>(14.3,15.4)</code> \u548c <code>(13.4,12.6)</code>\u3002</p> <pre><code>10.2,100.3 14.3,15.4 13.4,12.6\n</code></pre>"},{"location":"zh/AnalysisAndEvaluation/Database/#junctionlaneinfo","title":"junctionLaneINFO","text":"<p>\u5728 SUMO \u7684\u8def\u7f51\u4e2d\uff0c\u6709\u4e24\u79cd\u7c7b\u578b\u7684 lane\uff0c\u4e00\u79cd\u662f\u7531\u7528\u6237\u81ea\u4e3b\u751f\u6210\u7684\uff0c\u5177\u6709\u7279\u5b9a\u540d\u79f0\u7684 lane\u3002\u53e6\u4e00\u79cd\u5219\u662f\u4e3a\u4e86\u8fde\u63a5\u7b2c\u4e00\u79cd lane\uff0c\u800c\u7531 SUMO \u81ea\u52a8\u751f\u6210\u7684 lane\uff0c\u8fd9\u7c7b lane \u7684\u7279\u70b9\u662f\u540d\u79f0\u7684\u7b2c\u4e00\u4e2a\u5b57\u7b26\u90fd\u662f <code>:</code>\uff0c\u4e14\u90fd\u5177\u6709 <code>internal</code> \u7684\u5c5e\u6027\u3002\u8fd9\u91cc\u4e3a\u4e86\u65b9\u4fbf\u533a\u5206\uff0c\u6211\u4eec\u5c06\u7b2c\u4e8c\u79cd lane \u5b9a\u4e49\u4e3a junctionLane\u3002junctionLane \u603b\u662f\u8fde\u63a5\u4e24\u6761 lane\uff0c\u90e8\u5206 junctionLane \u8fd8\u5177\u6709\u4fe1\u53f7\u706f\u7684\u5c5e\u6027\u3002</p> \u5b57\u6bb5 \u6570\u636e\u7ed3\u6784 \u63cf\u8ff0 <code>id</code> TEXT PRIMARY KEY junctionLane \u7684 id <code>width</code> REAL junctionLane \u7684\u5bbd\u5ea6 <code>maxSpeed</code> REAL junctionLane \u7684\u6700\u5927\u9650\u901f <code>length</code> REAL junctionLane \u7684\u957f\u5ea6 <code>tlLogicID</code> TEXT junctionLane \u6240\u5c5e\u7684\u4fe1\u53f7\u63a7\u5236\u903b\u8f91 ID <code>tlIndex</code> INT junctionLane \u5728\u6240\u5c5e\u4fe1\u53f7\u63a7\u5236\u903b\u8f91\u4e2d\u7684\u5e8f\u53f7"},{"location":"zh/AnalysisAndEvaluation/Database/#connectioninfo","title":"connectionINFO","text":"<p>\u524d\u6587\u63d0\u5230\uff0c\u4e24\u6761 lane \u662f\u7531\u4e00\u6761 junctionLane \u8fde\u63a5\u7684\uff0cconnection \u5219\u662f\u8bb0\u5f55\u8fd9\u79cd\u8fde\u63a5\u5173\u7cfb\u7684\u3002</p> \u5b57\u6bb5 \u6570\u636e\u7ed3\u6784 \u63cf\u8ff0 <code>fromLane</code> TEXT \u8d77\u70b9 lane \u7684 id <code>toLane</code> TEXT \u7ec8\u70b9 lane \u7684 id <code>direction</code> TEXT \u65b9\u5411\uff0c\u5177\u4f53\u53c2\u8003 XXXX <code>via</code> TEXT \u8fde\u63a5\u4e24\u6761 lane \u7684 junctionLane \u7684 id"},{"location":"zh/AnalysisAndEvaluation/Database/#junctioninfo","title":"junctionINFO","text":"\u5b57\u6bb5 \u6570\u636e\u7ed3\u6784 \u63cf\u8ff0 <code>id</code> TEXT PRIMARY KEY junction \u7684 id <code>rawShape</code> TEXT junction \u7684\u51e0\u4f55\u7ed3\u6784 <p>\u4e0e lane \u7684 <code>rawShape</code> \u4e00\u6837\uff0cjunction \u7684 <code>rawShape</code> \u4e5f\u662f\u4ee5\u5b57\u7b26\u4e32\u7684\u5f62\u5f0f\u8bb0\u5f55\u7684\uff0c\u540c\u6837\u4ee5 <code></code> \u548c <code>,</code> \u4f5c\u4e3a\u5206\u9694\u7b26\u3002\u4f46\u662f junction \u7684 <code>rawShape</code> \u8bb0\u5f55\u7684\u662f junction \u7684\u5916\u90e8\u8f6e\u5ed3\u3002</p>"},{"location":"zh/AnalysisAndEvaluation/Database/#tllogicinfo","title":"tlLogicINFO","text":"\u5b57\u6bb5 \u6570\u636e\u7ed3\u6784 \u63cf\u8ff0 <code>id</code> TEXT PRIMARY KEY \u4fe1\u53f7\u63a7\u5236\u903b\u8f91\u7684 id\uff0c\u4e5f\u662f\u5bf9\u5e94 junction \u7684 id <code>tlType</code> TEXT \u4fe1\u53f7\u63a7\u5236\u903b\u8f91\u7684\u7c7b\u578b\uff0c\u5206\u4e3a <code>static</code>, <code>actuated</code>\u548c<code>delay_based</code> <code>preDefPhases</code> TEXT \u4fe1\u53f7\u63a7\u5236\u903b\u8f91\u7684\u76f8\u4f4d\u548c\u76f8\u5e8f\uff0c\u5177\u4f53\u53c2\u8003 XXX"},{"location":"zh/AnalysisAndEvaluation/Database/#trafficlightstates","title":"trafficLightStates","text":"\u5b57\u6bb5 \u6570\u636e\u7ed3\u6784 \u63cf\u8ff0 <code>frame</code> INT \u5f53\u524d\u7684\u4eff\u771f\u65f6\u523b <code>id</code> TEXT \u4fe1\u53f7\u63a7\u5236\u903b\u8f91\u7684 id <code>currPhase</code> TEXT \u5f53\u524d\u7684\u76f8\u4f4d <code>nextPhase</code> TEXT \u4e0b\u4e00\u4e2a\u76f8\u4f4d <code>switchTime</code> REAL \u5f53\u524d\u76f8\u4f4d\u5269\u4f59\u7684\u6301\u7eed\u65f6\u95f4"},{"location":"zh/AnalysisAndEvaluation/Database/#_2","title":"\u8f66\u8f86\u4fe1\u606f","text":"<p>\u8f66\u8f86\u7684\u4fe1\u606f\u5206\u4e3a\u4e24\u79cd\uff0c\u4e00\u79cd\u662f\u8f66\u8f86\u7684\u56fa\u6709\u5c5e\u6027\uff0c\u53e6\u4e00\u79cd\u662f\u4eff\u771f\u8fc7\u7a0b\u4e2d\u7684\u5b9e\u65f6\u72b6\u6001\u3002</p>"},{"location":"zh/AnalysisAndEvaluation/Database/#vehicleinfo","title":"vehicleINFO","text":"\u5b57\u6bb5 \u6570\u636e\u7ed3\u6784 \u63cf\u8ff0 <code>vid</code> INT \u8f66\u8f86\u7684 id <code>length</code> REAL \u8f66\u8f86\u7684\u957f\u5ea6 <code>width</code> REAL \u8f66\u8f86\u7684\u5bbd\u5ea6 <code>maxAccel</code> REAL \u8f66\u8f86\u7684\u6700\u5927\u52a0\u901f\u5ea6 <code>maxDecel</code> REAL \u8f66\u8f86\u7684\u6700\u5927\u51cf\u901f\u5ea6 <code>maxSpeed</code> REAL \u8f66\u8f86\u7684\u6700\u5927\u901f\u5ea6 <code>vTypeID</code> TEXT \u8f66\u578b\u7684 id <code>routes</code> TEXT \u8f66\u8f86\u7684 route \u4fe1\u606f"},{"location":"zh/AnalysisAndEvaluation/Database/#frameinfo","title":"frameINFO","text":"\u5b57\u6bb5 \u6570\u636e\u7ed3\u6784 \u63cf\u8ff0 <code>frame</code> INT \u5f53\u524d\u7684\u4eff\u771f\u65f6\u523b <code>vid</code> INT \u8f66\u8f86\u7684 id <code>vtag</code> TEXT \u8f66\u8f86\u7684\u89d2\u8272\uff0c\u53ef\u4ee5\u53d6 <code>ego</code>, <code>AoI</code> \u548c <code>outOfAoI</code> <code>x</code> REAL \u8f66\u8f86\u6b64\u523b\u7684 x \u4f4d\u7f6e <code>y</code> REAL \u8f66\u8f86\u6b64\u523b\u7684 y \u4f4d\u7f6e <code>yaw</code> REAL \u8f66\u8f86\u6b64\u523b\u7684 yaw \u89d2\uff0c\u4ee5 x \u8f74\u6b63\u65b9\u5411\u4e3a\u8d77\u70b9\uff0c\u9006\u65f6\u9488\u4e3a\u6b63\u65b9\u5411 <code>speed</code> REAL \u8f66\u8f86\u6b64\u523b\u7684\u901f\u5ea6 <code>accel</code> REAL \u8f66\u8f86\u6b64\u523b\u7684\u52a0\u901f\u5ea6 <code>laneID</code> TEXT \u8f66\u8f86\u6b64\u523b\u6240\u5728 lane \u7684 ID <code>lanePos</code> REAL \u8f66\u8f86\u6b64\u523b\u5728 lane \u4e0a\u7684\u8ddd\u79bb lane \u8d77\u70b9\u7684\u8ddd\u79bb <code>routeIdx</code> INT \u8f66\u8f86\u5f53\u524d\u5904\u4e8e route \u7684\u7b2c\u51e0\u6bb5\u4e0a"},{"location":"zh/AnalysisAndEvaluation/Database/#_3","title":"\u4eff\u771f\u4fe1\u606f","text":"<p>\u4eff\u771f\u4fe1\u606f\u4e3b\u8981\u5305\u62ec\u4eff\u771f\u7684\u57fa\u672c\u4fe1\u606f\u548c\u8bc4\u4ef7\u7684\u4fe1\u606f</p>"},{"location":"zh/AnalysisAndEvaluation/Database/#siminfo","title":"simINFO","text":"\u5b57\u6bb5 \u6570\u636e\u7ed3\u6784 \u63cf\u8ff0 <code>startTime</code> TIMESTAMP \u4eff\u771f\u542f\u52a8\u65f6\u7684\u65f6\u95f4\u6233 <code>localPosx</code> REAL <code>local area</code> \u6a21\u5f0f\u4e0b\uff0c\u56fa\u5b9a\u89c6\u89d2\u7684 x \u4f4d\u7f6e <code>localPosy</code> REAL <code>local area</code> \u6a21\u5f0f\u4e0b\uff0c\u56fa\u5b9a\u89c6\u89d2\u7684 y \u4f4d\u7f6e <code>radius</code> REAL <code>local area</code> \u6a21\u5f0f\u4e0b\uff0c\u533a\u57df\u7684\u534a\u5f84 <code>egoID</code> TEXT <code>ego track</code> \u6a21\u5f0f\u4e0b\uff0cego \u7684 id <code>netBoundary</code> TEXT \u4eff\u771f\u8def\u7f51\u7684\u8303\u56f4\uff0c\u5373\u5de6\u4e0b\u89d2\u548c\u53f3\u4e0a\u89d2\u7684\u5750\u6807 <code>description</code> TEXT \u4eff\u771f\u7684\u6a21\u5f0f\uff0c\u6709 <code>ego track</code> \u548c <code>local area</code> \u4e24\u79cd <code>note</code> TEXT \u5907\u6ce8\u4fe1\u606f\uff0c\u53ef\u4ee5\u662f\u7b97\u6cd5\u7684\u7248\u672c\u53f7\u548c\u53c2\u6570\u7b49"},{"location":"zh/AnalysisAndEvaluation/Database/#evaluationinfo","title":"evaluationINFO","text":"\u5b57\u6bb5 \u6570\u636e\u7ed3\u6784 \u63cf\u8ff0 <code>frame</code> INT \u5f53\u524d\u7684\u4eff\u771f\u65f6\u523b <code>offset</code> REAL Ego \u504f\u79bb\u8f66\u9053\u4e2d\u5fc3\u7684\u8ddd\u79bb <code>discomfort</code> REAL Ego \u7684\u52a0\u52a0\u901f\u5ea6\u4fe1\u606f <code>collision</code> REAL Ego \u7684 TTC1 \u7684\u5012\u6570 <code>orientation</code> REAL Ego \u504f\u79bb\u8f66\u9053\u4e2d\u5fc3\u7684\u89d2\u5ea6 <code>consumption</code> REAL Ego \u7684\u6cb9\u8017\u4fe1\u606f <p>\u6570\u503c\u7ecf\u8fc7\u5904\u7406</p> <p>\u4e0a\u8ff0\u6307\u6807\u5747\u7ecf\u8fc7\u5f52\u4e00\u5316\u5904\u7406\uff0c\u5e76\u4e0d\u662f\u771f\u5b9e\u6570\u503c\uff0c\u8be6\u60c5\u8bf7\u53c2\u8003 \u573a\u666f\u8bc4\u4ef7</p> <ol> <li> <p>TTC(Time To Collision)\uff1a\u6307\u4e24\u8f66\u4fdd\u6301\u5f53\u524d\u7684\u901f\u5ea6\u884c\u9a76\uff0c\u591a\u4e45\u540e\u4f1a\u53d1\u751f\u78b0\u649e\u3002\u00a0\u21a9</p> </li> </ol>"},{"location":"zh/AnalysisAndEvaluation/Evaluation/","title":"Evaluation","text":"<p>Evaluation\u6a21\u5757\u7528\u4e8e\u5b9e\u65f6\u8bc4\u4f30\u8f66\u8f86\u6240\u5904\u7684\u573a\u666f\u3002\u5176\u5305\u542b\u4e86\u4e94\u4e2a\u7ef4\u5ea6\u7684\u8bc4\u4ef7\u6307\u6807\uff0c\u8bc4\u4ef7\u7ed3\u679c\u53ef\u4ee5\u7528\u4e8e\u51b3\u7b56\uff0c\u4e5f\u53ef\u4ee5\u7528\u4e8e\u573a\u666f\u63d0\u53d6\uff0c\u4e3a\u540e\u7eed\u7684\u6d4b\u8bd5\u63d0\u4f9b\u6570\u636e\u3002</p> <p>\u4e0b\u9762\u6211\u4eec\u5206\u522b\u4ecb\u7ecd\u8fd9\u4e94\u4e2a\u7ef4\u5ea6</p>"},{"location":"zh/AnalysisAndEvaluation/Evaluation/#consumption","title":"Consumption","text":"<p>\u6211\u4eec\u5e94\u7528\u5982\u4e0b\u516c\u5f0f\u6765\u8ba1\u7b97\u8f66\u8f86\u7684\u80fd\u91cf\u6d88\u8017\u60c5\u51b5\uff1a</p> \\[ P = (v*a)^2 + v^3 \\] <p>\u8fd9\u91cc \\(v\\) \u548c \\(a\\) \u5206\u522b\u662f\u8f66\u8f86\u7684\u901f\u5ea6\u548c\u52a0\u901f\u5ea6\u3002</p> <p>\u81ea\u7531\u9a7e\u9a76\uff08\u5de1\u822a\uff09\u60c5\u51b5\u4e0b\uff0c\u8f66\u8f86\u901f\u5ea6\u8f83\u5927\uff0c\u52a0\u901f\u5ea6\u8f83\u5c0f\uff0c\u6574\u4f53\u80fd\u8017\u8f83\u9ad8\uff0c\u901f\u5ea6\u5360\u4e3b\u5bfc\u9879\uff1b \u5f53\u524d\u65b9\u6709\u7d27\u6025\u60c5\u51b5\u9700\u8981\u5239\u8f66\u65f6\uff0c\u901f\u5ea6\u6025\u5267\u53d8\u5c0f\uff0c\u52a0\u901f\u5ea6\u6bd4\u8f83\u5927\uff0c\u6574\u4f53\u80fd\u8017\u6d88\u8017\u8f83\u4f4e\u4f46\u662f\u51fa\u73b0\u4e0d\u8fde\u7eed\u53d8\u5316\u3002</p>"},{"location":"zh/AnalysisAndEvaluation/Evaluation/#collision","title":"Collision","text":"<p>\u6211\u4eec\u4f7f\u7528\u4e8c\u7ef4TTC(Time-to-Collision)\u6765\u8ba1\u7b97\u53ef\u80fd\u7684\u78b0\u649e\uff0c \u4e8c\u7ef4TTC\u5b9a\u4e49\u4e3a\uff1a\u5047\u8bbe\u4e24\u8f66\u4ee5\u5f53\u524d\u7684\u901f\u5ea6\u7684\u548c\u65b9\u5411\u7ee7\u7eed\u884c\u9a76\uff0c\u4e24\u8f66\u78b0\u649e\u6240\u9700\u8981\u7684\u65f6\u95f4\u3002 TTC\u663e\u793a\u4e86\u6f5c\u5728\u7684\u78b0\u649e\u5371\u9669\uff0c\u5176\u53ef\u4ee5\u7528\u6765\u8bc4\u4f30\u8f68\u8ff9\u89c4\u5212\u7b97\u6cd5\u7684\u5b89\u5168\u6027\u3002</p> <p>\u8fd9\u91cc\u6211\u4eec\u53c2\u8003\u4e86nuplan\u7684\u5b9e\u73b0\u5e76\u6839\u636e\u6570\u636e\u683c\u5f0f\u8fdb\u884c\u4e86\u7b80\u5316\u3002</p>"},{"location":"zh/AnalysisAndEvaluation/Evaluation/#orientation","title":"Orientation","text":"<p>\u6211\u4eec\u7528\u8f66\u8f86\u504f\u79bb\u8f66\u9053\u4e2d\u5fc3\u7ebf\u7684\u65b9\u5411\uff08\u901f\u5ea6\u65b9\u5411\u4e0e\u8f66\u9053\u4e2d\u5fc3\u7ebf\u7684\u5939\u89d2\uff09\u4f5c\u4e3aorientation\u3002</p> \\[ (\\sin(\\theta_{ego}) - \\sin(\\theta_{ref}))^2 \\] <p>\u5176\u4e2d\uff0c\\(\\theta_{ego}\\) \u548c \\(\\theta_{ref}\\) \u5206\u522b\u662f\u81ea\u8f66\u548c\u81ea\u8f66\u5728\u53c2\u8003\u7ebf\u4e0a\u6295\u5f71\u70b9\u7684\u89d2\u5ea6\uff08\u4e16\u754c\u5750\u6807\u7cfb\uff09\uff0c\u8fd9\u91cc\u6709\u4e09\u70b9\u9700\u8981\u6ce8\u610f\uff1a 1. \u4e3a\u4e86\u5c55\u793a\u65b9\u4fbf\uff0c\u6211\u4eec\u4f7f\u7528 \\(\\sin\\) \u8fdb\u884c\u5f52\u4e00\u5316 2. \u5728\u8def\u53e3\u5185\u8003\u8651\u504f\u5411\u89d2\u610f\u4e49\u4e0d\u5927\uff0c\u56e0\u6b64\u8fd9\u91cc\u7684 \\(\\theta_{ref}\\) \u5b9e\u9645\u4e0a\u6307\u7684\u662f\u201c\u5386\u53f2\u8f68\u8ff9\u4e2d\uff0c\u6700\u8fd1\u7684\uff0c\u5728<code>NormalLane</code>\u4e0a\u5bf9\u5e94\u7684\u70b9\u201d 3. \u540c\u6837\u662f\u4e3a\u4e86\u5c55\u793a\u65b9\u4fbf\uff0c\u6211\u4eec\u589e\u52a0\u4e86<code>delay</code>\u9879\uff0c\u4f7f\u5f97\u8f6c\u5f2f\u663e\u793a\u5730\u66f4\u52a0\u987a\u6ed1\u3002</p> <p>orientation\u53ef\u4ee5\u4f53\u73b0\u51fa\u8f66\u8f86\u7684\u8f6c\u5f2f\u884c\u4e3a\uff0c\u7279\u522b\u662f\u9700\u8981\u65e0\u4fdd\u62a4\u5de6\u8f6c\u573a\u666f\u65f6\uff0c\u53ef\u4ee5\u5229\u7528Orientation\u7684\u7ed3\u679c\u7b5b\u9009\u51fa\u4e00\u4e9b\u573a\u666f\u6765\u8fdb\u884c\u6d4b\u8bd5\u3002</p>"},{"location":"zh/AnalysisAndEvaluation/Evaluation/#discomfort","title":"Discomfort","text":"<p>\u6211\u4eec\u7528jerk \u7684\u5e73\u65b9\u6765\u8868\u793adiscomfort\uff0c </p> \\[ \\left(\\frac{da}{dt}\\right)^2 \\] <p>\u8fd9\u91cc \\(a\\) \u662f\u52a0\u901f\u5ea6\u3002 jerk\u53ef\u4ee5\u8868\u73b0\u51fa\u8f66\u8f86\u5728\u8fd0\u52a8\u65f6\u51fa\u73b0\u7684\u6025\u5239\u4ee5\u53ca\u7a81\u7136\u542f\u52a8\u5bf9\u4e58\u5ba2\u7684\u5f71\u54cd\u3002</p>"},{"location":"zh/AnalysisAndEvaluation/Evaluation/#offset","title":"Offset","text":"<p>\u6211\u4eec\u4ee5\u8f66\u8f86\u504f\u79bb\u8f66\u9053\u4e2d\u5fc3\u7ebf\uff08\u5728junction\u91cc\u9762\uff0c\u6211\u4eec\u4e0d\u4f1a\u8ba1\u7b97\u6b64\u9879\uff09\u8ddd\u79bb\u7684\u5e73\u65b9\u4f5c\u4e3aoffset\u3002</p> \\[ d^2 \\] <p>\u8fd9\u91cc \\(d\\) \u662f\u8f66\u8f86\u5728Frenet\u5750\u6807\u7cfb\u4e0b\u7684\u6a2a\u5750\u6807(lateral coordinate).</p> <p>offset\u53ef\u4ee5\u7528\u4ee5\u68c0\u6d4b\u8f66\u8f86\u53d8\u9053\u7684\u884c\u4e3a\u3002\u7531\u4e8eLimSim \u63d0\u4f9b\u7684\u9ed8\u8ba4\u89c4\u5212\u5668\u662f\u5efa\u7acb\u5728frenet\u5750\u6807\u7cfb\u4e0b\u7684\uff0c\u56e0\u6b64\u8fd9\u4e00\u9879\u53ef\u4ee5\u5f88\u65b9\u4fbf\u5730\u8ba1\u7b97\u51fa\u6765\u3002</p>"},{"location":"zh/AnalysisAndEvaluation/Evaluation/#visualization","title":"Visualization","text":"<p>\u6211\u4eec\u4f7f\u7528\u4e94\u661f\u56fe\u6765\u53ef\u89c6\u5316\u4e0a\u9762\u4e94\u4e2a\u7ef4\u5ea6\u7684\u7ed3\u679c\uff0c\u4e3a\u4e86\u4f7f\u7ed3\u679c\u8868\u73b0\u51fa\u4e00\u81f4\u6027\uff0c\u6211\u4eec\u5bf9\u7ed3\u679c\u8fdb\u884c\u4e86\u9002\u5f53\u7684\u53d8\u6362\u3002</p>"},{"location":"zh/AnalysisAndEvaluation/Evaluation/#data-retrieval","title":"Data Retrieval","text":"<p>\u6211\u4eec\u5c06\u5b9e\u65f6\u8bc4\u4f30\u7684\u7ed3\u679c\u5b58\u50a8\u5728\u6570\u636e\u5e93\u4e2d\uff0c\u7528\u4ee5\u8fdb\u884c\u573a\u666f\u63d0\u53d6\u548c\u5206\u6790\u3002\u6211\u4eec\u53ef\u4ee5\u4f7f\u7528\u5982\u4e0b\u4ee3\u7801\u5c06\u8bc4\u4f30\u7ed3\u679c\u8f6c\u5316\u4e3a<code>DataFrame</code>: <pre><code>from utils.load_data import load_data_from_database\nevaluation_df = load_data_from_data_base(path_to_data_base, 'evaluation')\n</code></pre></p>"},{"location":"zh/DecisionAndPlanning/Overview/","title":"Overview","text":"<p>LimSim\u4e2d\u4f7f\u7528<code>TrafficManager</code>\u7c7b\u6765\u7edf\u4e00\u7ba1\u7406\uff0c\u8fd9\u4e2a\u7c7b\u4e3b\u8981\u8d1f\u8d23\u5bf9\u4e8eAOI\u8303\u56f4\u5185\u7684\u8f66\u8f86\u8fdb\u884c\u201c\u9884\u6d4b-\u51b3\u7b56-\u89c4\u5212\u201d\uff08PDP\uff09\u6d41\u7a0b\uff0c\u6700\u7ec8\u4e3a\u6bcf\u8f86\u8f66\u751f\u6210\u4e00\u6761\u5408\u7406\u3001\u5b89\u5168\u3001\u7b26\u5408\u8fd0\u52a8\u5b66\u7ea6\u675f\u7684\u8f68\u8ff9\u3002</p> <p>\u5728\u4f7f\u7528\u65f6\uff0c\u6211\u4eec\u9700\u8981\u9996\u5148\u521d\u59cb\u5316<code>TrafficManager</code>\u7c7b\uff0c\u521d\u59cb\u5316\u9700\u8981\u7684\u53c2\u6570\u5982\u4e0b\uff1a</p> \u53c2\u6570\u540d \u5fc5\u987b/\u53ef\u9009 \u63cf\u8ff0 <code>model</code> \u5fc5\u987b \u4f20\u5165\u7684\u5305\u542bSumo\u4eff\u771f\u7684\u4eff\u771f\u6a21\u578b\uff0c\u5e94\u5f53\u4e3a<code>Model</code>\u7c7b\u6216\u8005<code>ReplayModel</code>\u7c7b <code>predictor</code> \u53ef\u9009 \u8f66\u8f86\u7684\u9884\u6d4b\u5668\uff0c\u5e94\u5f53\u662f\u4e00\u4e2a<code>AbstractPredictor</code>\u00a0\u7684\u5b50\u7c7b\u3002 <code>ego_decision</code> \u53ef\u9009 \u81ea\u8f66\u7684\u51b3\u7b56\u5668\uff0c\u5e94\u5f53\u662f\u4e00\u4e2a<code>AbstractEgoDecisionMaker</code>\u00a0\u7684\u5b50\u7c7b\u3002 <code>ego_planner</code> \u53ef\u9009 \u81ea\u8f66\u7684\u89c4\u5212\u5668\uff0c\u5e94\u5f53\u662f\u4e00\u4e2a<code>AbstractEgoPlanner</code>\u00a0\u7684\u5b50\u7c7b\u3002 <code>multi_decision</code> \u53ef\u9009 \u9002\u7528\u4e8e\u591a\u8f66\u7684\u8054\u5408\u51b3\u7b56\u5668\uff0c\u5e94\u5f53\u662f\u4e00\u4e2a<code>AbstractMultiDecisionMaker</code>\u00a0\u7684\u5b50\u7c7b\u3002 <code>multi_veh_planner</code> \u53ef\u9009 \u9002\u7528\u4e8e\u591a\u8f66\u7684\u8054\u5408\u89c4\u5212\u5668\uff0c\u5e94\u5f53\u662f\u4e00\u4e2a<code>AbstractMultiPlanner</code>\u00a0\u7684\u5b50\u7c7b\u3002 <code>config_file_path</code> \u53ef\u9009 \u914d\u7f6e\u6587\u4ef6\u8def\u5f84\u3002\u5176\u8d1f\u8d23\u5b58\u50a8PDP\u6d41\u7a0b\u4e2d\u7684\u4e00\u4e9b\u91cd\u8981\u53ef\u4fee\u6539\u53c2\u6570\u3002 <p>LimSim\u5df2\u4e8b\u5148\u5b9e\u73b0\u4e86PDP\u5168\u6d41\u7a0b\u7684\u65b9\u6cd5\uff0c\u8fd9\u610f\u5473\u7740\u7528\u6237\u4e0d\u9700\u8981\u586b\u5145\u4efb\u4f55\u7b97\u6cd5\u5373\u53ef\u6b63\u5e38\u8fd0\u884cLimSim\u3002</p> <p>\u540c\u65f6\uff0cLimSim\u4e5f\u652f\u6301\u7528\u6237\u66ff\u6362PDP\u6d41\u7a0b\u4e2d\u7684\u90e8\u5206\u6216\u5168\u90e8\u7b97\u6cd5\uff0c\u53ea\u9700\u7ee7\u627f\u7ed9\u5b9a\u57fa\u7c7b\u5e76\u586b\u5145\u63a5\u53e3\uff0c\u5373\u53ef\u4f7fLimsim\u62e5\u6709\u5168\u65b0\u8868\u73b0\u3002</p>"},{"location":"zh/GettingStarted/carla_cosim/","title":"LimSim, SUMO, CARLA Co-Simulation","text":""},{"location":"zh/GettingStarted/carla_cosim/#limsim-sumo-carla","title":"LimSim, SUMO, CARLA \u534f\u540c\u4eff\u771f","text":"<p>CARLA \u662f\u4e00\u6b3e\u5f00\u6e90\u7684\u81ea\u52a8\u9a7e\u9a76\u4eff\u771f\u5668\uff0c\u5177\u6709\u5305\u62ec\u611f\u77e5\u3001\u5b9a\u4f4d\u7b49\u5728\u5185\u7684\u591a\u4e2a\u529f\u80fd\uff0c\u53ef\u4ee5\u7528\u6765\u5e2e\u52a9\u8bad\u7ec3\u81ea\u52a8\u9a7e\u9a76\u7684\u5404\u4e2a\u6a21\u5757\u3002CARLA \u5b98\u65b9\u63d0\u4f9b\u7684 SUMO co-simulation \u529f\u80fd\u4f7f\u5f97\u7528\u6237\u53ef\u4ee5\u5229\u7528 SUMO \u7ba1\u7406\u4eff\u771f\u7684\u80cc\u666f\u4ea4\u901a\u6d41\uff0c\u4e5f\u4f7f\u5f97 LimSim, SUMO, CARLA \u7684\u534f\u540c\u4eff\u771f\u6210\u4e3a\u53ef\u80fd\u3002</p> <p>\u8fdb\u884c\u534f\u540c\u4eff\u771f\u4e3b\u8981\u5229\u7528 SUMO \u7684\u5e73\u884c\u4eff\u771f(Parallel simulation) \u529f\u80fd\uff0c\u5f00\u542f\u8fd9\u4e2a\u529f\u80fd\u540e\uff0c\u4e3b\u7a0b\u5e8f\u7684\u53ef\u4ee5\u4f5c\u4e3a Server \u4eff\u771f\uff0c\u800c\u5b50\u7a0b\u5e8f\u53ef\u4ee5\u4f5c\u4e3a Client \u63a5\u53d7\u6570\u636e\u3002\u56e0\u6b64\u6211\u4eec\u53ef\u4ee5\u5c06 LimSim \u4f5c\u4e3a\u4e3b\u7a0b\u5e8f\u8fd0\u884c\uff0c\u5c06 CARLA \u7684 co-simulation \u4f5c\u4e3a\u5b50\u7a0b\u5e8f\u8fd0\u884c\u3002</p>"},{"location":"zh/GettingStarted/carla_cosim/#0-carla","title":"\u6b65\u9aa4 0\uff1a\u5b89\u88c5 CARLA","text":"<p>\u26a0\ufe0f \u6240\u6709\u7684\u6307\u4ee4\u90fd\u57fa\u4e8e Linux\uff0cWindows \u652f\u6301\u672a\u7ecf\u6d4b\u8bd5\u548c\u4fdd\u8bc1\u3002</p> <p>\u9996\u5148\uff0c\u60a8\u9700\u8981\u901a\u8fc7\u5305\u5b89\u88c5\u6765\u5b89\u88c5 CARLA\uff0c\u63a8\u8350\u4f7f\u7528\u7248\u672c\u4e3a 0.9.12+ \u7684 Carla\u3002\u8bf7\u53c2\u8003\u4ee5\u4e0b\u94fe\u63a5\uff1a</p> <p>\u5feb\u901f\u5165\u95e8\u5305\u5b89\u88c5 - CARLA \u6a21\u62df\u5668</p> <p>\u7136\u540e\uff0c\u8bf7\u786e\u4fdd\u5df2\u7ecf\u914d\u7f6e\u4e86 CARLA \u548c SUMO \u7684\u8054\u5408\u4eff\u771f\u3002\u8bf7\u53c2\u8003\u4ee5\u4e0b\u94fe\u63a5\uff1a</p> <p>SUMO - CARLA \u6a21\u62df\u5668</p> <p>\u73b0\u5728\uff0c\u60a8\u5e94\u8be5\u5728 <code>LimSim</code> \u6587\u4ef6\u5939\u65c1\u8fb9\u6709\u4e00\u4e2a\u540d\u4e3a <code>Carla</code> \u7684\u6587\u4ef6\u5939\uff0cCarla \u6587\u4ef6\u5939\u7684\u7ed3\u6784\u5e94\u5982\u4e0b\u6240\u793a\uff1a</p> <pre><code>\u251c\u2500\u2500 CarlaUE4\n\u2502   \u251c\u2500\u2500 AssetRegistry.bin\n\u2502   \u251c\u2500\u2500 Binaries\n\u2502   \u251c\u2500\u2500 CarlaUE4.uproject\n\u2502   \u251c\u2500\u2500 Config\n\u2502   \u251c\u2500\u2500 Content\n\u2502   \u2514\u2500\u2500 Plugins\n\u251c\u2500\u2500 CarlaUE4.sh\n\u251c\u2500\u2500 Co-Simulation\n\u2502   \u251c\u2500\u2500 PTV-Vissim\n\u2502   \u2514\u2500\u2500 Sumo\n\u251c\u2500\u2500 PythonAPI\n\u2502   \u251c\u2500\u2500 carla\n\u2502   \u251c\u2500\u2500 examples\n\u2502   \u251c\u2500\u2500 python_api.md\n\u2502   \u2514\u2500\u2500 util\n\u251c\u2500\u2500 README\n\u251c\u2500\u2500 ......\n\u251c\u2500\u2500 ......\n\u2514\u2500\u2500 VERSION\n</code></pre>"},{"location":"zh/GettingStarted/carla_cosim/#1-carla","title":"\u6b65\u9aa4 1\uff1a\u8fd0\u884c CARLA \u8054\u5408\u4eff\u771f","text":"<p>\u60a8\u5e94\u8be5\u6253\u5f00\u4e24\u4e2a\u7ec8\u7aef\u3002</p> <pre><code># \u7ec8\u7aef 1 \ncd path-to-carla/ ./CarlaUE4.sh -world-port=2000 -resx=400 -resy=300 -quality-level=Epic\n</code></pre> <p>\u73b0\u5728\u60a8\u5e94\u8be5\u770b\u5230 CARLA \u56fe\u5f62\u754c\u9762\u3002\u7136\u540e\u5207\u6362\u5230\u53e6\u4e00\u4e2a\u7ec8\u7aef\uff1a</p> <pre><code># \u7ec8\u7aef 2 \ncd path-to-carla/ cd PythonAPI/util/ python3 config.py --map Town05\n</code></pre> <p>\u73b0\u5728 Carla \u4e2d\u7684\u5730\u56fe\u5df2\u6210\u529f\u5207\u6362\u4e3a <code>Town05</code> \u5730\u56fe\u3002</p> <pre><code># \u7ec8\u7aef 2 \ncd ../.. # \u56de\u5230 carla \u6839\u76ee\u5f55 \ncd Co-Simulation/Sumo python3 run_synchronization.py examples/Town05.sumocfg --sumo-host 127.0.0.1 --sumo-port 8813 --client-order 2\n</code></pre> <p>\u7ec8\u7aef\u5e94\u6301\u7eed\u8f93\u51fa <code>Could not connect to TraCI server at 127.0.0.1:8813 [Errno 111] Connection refused Retrying in 1 seconds</code>\uff0c\u4e0d\u8981\u62c5\u5fc3\uff0c\u8fd9\u610f\u5473\u7740\u60a8\u7684\u8bbe\u7f6e\u90fd\u5df2\u5b8c\u6210\u3002\u73b0\u5728\u7ee7\u7eed\u4e0b\u4e00\u6b65\uff01</p>"},{"location":"zh/GettingStarted/carla_cosim/#2-limsim","title":"\u6b65\u9aa4 2\uff1a\u8fd0\u884c LimSim \u8054\u5408\u4eff\u771f","text":"<p>\u5728 <code>ModelExample.py</code> \u7684 <code>main</code> \u51fd\u6570\u4e2d\u4fee\u6539\u4ee3\u7801\uff1a</p> <pre><code>if __name__ == \"__main__\":     \nnet_file, rou_file = file_paths['CarlaTown05']     \nrun_model(net_file, rou_file, ego_veh_id=\"4\", carla_cosim=True)\n</code></pre> <p>\u7136\u540e\u6253\u5f00\u7b2c\u4e09\u4e2a\u7ec8\u7aef\uff1a</p> <pre><code># \u7ec8\u7aef 3 \ncd path-to-limsim/ python ./ModelExample.py\n</code></pre> <p>\u7136\u540e\u60a8\u5e94\u8be5\u770b\u5230\u6240\u6709 LimSim/Sumo/CARLA \u56fe\u5f62\u754c\u9762\u5f00\u59cb\u8054\u5408\u4eff\u771f\u3002</p> <p>\u60a8\u53ef\u4ee5\u4f7f\u7528 <code>w</code>\u3001<code>a</code>\u3001<code>s</code>\u3001<code>d</code>\u3001<code>q</code>\u3001<code>e</code> \u6765\u63a7\u5236 CARLA \u4e2d\u7684\u89c6\u89d2\u79fb\u52a8\u3002</p>"},{"location":"zh/GettingStarted/carla_cosim/#3-carla","title":"\u6b65\u9aa4 3\uff1a\uff08\u53ef\u9009\uff09\u5728 CARLA \u4e2d\u66f4\u6539\u9e1f\u77b0\u89c6\u56fe","text":"<p>\u5982\u679c\u60a8\u5e0c\u671b CARLA \u4e2d\u7684\u89c6\u89d2\u8ddf\u968f\u81ea\u8f66\u79fb\u52a8\uff0c\u9700\u8981\u7a0d\u5fae\u4fee\u6539 <code>Co-Simulation/Sumo</code> \u6587\u4ef6\u5939\u4e2d\u7684 <code>run_synchronization.py</code> \u6587\u4ef6\u3002</p> <p>\u53ea\u9700\u4f7f\u7528\u6b64\u6587\u4ef6\u94fe\u63a5 \u66ff\u6362\u60a8\u6587\u4ef6\u5939\u4e2d\u7684\u539f\u59cb <code>run_synchronization.py</code> \u6587\u4ef6\uff0c\u5e76\u786e\u4fdd <code>line 222</code> \u4e2d\u7684 <code>ego_id = '4'</code> \u662f\u81ea\u8f66\u7684 ID\u3002</p> <p>\u5c3d\u60c5\u4eab\u53d7\u5427\uff01</p>"},{"location":"zh/GettingStarted/installDeploy/","title":"Installation & Deployment","text":"<p>LimSim \u662f\u4e00\u6b3e\u9762\u5411\u51b3\u7b56-\u89c4\u5212\u7b97\u6cd5\u6d4b\u8bd5\u7684\u5fae\u89c2\u4eff\u771f\u8f6f\u4ef6\uff0c\u53ef\u4ee5\u8fdb\u884c\u5b8f\u5fae\u89c2\u4e00\u4f53\u7684\u957f\u65f6\u4eff\u771f\u3002</p>"},{"location":"zh/GettingStarted/installDeploy/#_1","title":"\u5b89\u88c5\u90e8\u7f72","text":"<p>LimSim \u4e3b\u8981\u7531 Python \u7f16\u5199\uff0c\u65e0\u9700\u7f16\u8bd1\uff0c\u53ef\u4ee5\u76f4\u63a5\u8fd0\u884c\u6e90\u7801\u3002\u4f46\u662f\u5728\u8fd0\u884c\u524d\u8bf7\u4fdd\u8bc1\u5177\u6709\u4ee5\u4e0b\u5f00\u53d1\u73af\u5883\uff1a</p> <ul> <li>3.9.0 &lt;= Python &lt;= 3.11.0</li> <li>SUMO &gt;= 1.15.0 (\u63a8\u8350\u4f7f\u7528 1.15.0 \u7248\u672c)</li> </ul> <p>\u5728\u8fd0\u884c\u73af\u5883\u914d\u7f6e\u5b8c\u6210\u540e\uff0c\u4e0b\u8f7d LimSim \u6e90\u7801\u5230\u672c\u5730\u5373\u53ef\uff1a</p> <pre><code>git clone https://github.com/PJLab-ADG/LimSim.git\n</code></pre> <p>\u6700\u540e\uff0c\u9700\u8981\u5b89\u88c5\u6240\u9700\u7684 Python \u6240\u9700\u7684\u6269\u5c55\uff1a</p> <pre><code>pip install -r requirements.txt\n</code></pre> <p>\u81f3\u6b64\uff0cLimSim \u7684\u672c\u5730\u5b89\u88c5\u90e8\u7f72\u5b8c\u6210\u3002</p>"},{"location":"zh/GettingStarted/installDeploy/#_2","title":"\u4eff\u771f\u793a\u4f8b","text":"<p>\u5728\u6839\u76ee\u5f55\u4e0b\uff0c\u6709\u4e00\u4e9b\u4eff\u771f\u793a\u4f8b\u6765\u8bf4\u660e LimSim \u7684\u529f\u80fd\uff0c\u8bbf\u95ee\u4e0b\u9762\u7684\u94fe\u63a5\uff0c\u4e86\u89e3\u529f\u80fd\u8be6\u60c5\uff1a</p> <ul> <li>\u5b9e\u65f6\u4eff\u771f</li> <li>\u56de\u653e\u4e0e\u4ea4\u4e92\u5f0f\u56de\u653e</li> <li>\u5176\u4ed6\u529f\u80fd</li> </ul>"},{"location":"zh/GettingStarted/otherFunction/","title":"Other Functions","text":"<p>\u4e3a\u9002\u5e94\u4e0d\u540c\u7684\u4efb\u52a1\u9700\u6c42\uff0cLimSim \u8fd8\u63d0\u4f9b\u4e86\u4e00\u4e9b\u989d\u5916\u7684\u529f\u80fd\uff0c\u8be6\u60c5\u5982\u4e0b\u3002</p>"},{"location":"zh/GettingStarted/otherFunction/#_1","title":"\u56fa\u5b9a\u573a\u666f\u4eff\u771f","text":"<p>\u9664\u4e86\u8ddf\u968f Ego \u8fdb\u884c\u957f\u65f6\u7684\u4eff\u771f\u6d4b\u8bd5\uff0cLimSim \u8fd8\u63d0\u4f9b\u4e86\u56fa\u5b9a\u89c6\u89d2\u7684\u4eff\u771f\u3002\u5728\u8fd9\u79cd\u6a21\u5f0f\u4e0b\uff0cAoI \u5e76\u4e0d\u968f\u67d0\u8f86\u8f66\u79fb\u52a8\uff0c\u800c\u662f\u56fa\u5b9a\u5728\u6307\u5b9a\u7684\u4f4d\u7f6e\u4e0a\uff0c\u800c\u8fdb\u5165 AoI \u7684\u8f66\u8f86\u4ecd\u7136\u4f1a\u53d7\u5230\u51b3\u7b56\u89c4\u5212\u7b97\u6cd5\u7684\u63a7\u5236\u3002\u8be5\u6a21\u5f0f\u7684\u8c03\u7528\u65b9\u6cd5\u4e0e\u5b9e\u65f6\u4eff\u771f\u57fa\u672c\u4e00\u81f4\uff0c\u8fd0\u884c <code>FixedSimExample.py</code> \u5373\u67e5\u770b\u56fa\u5b9a\u573a\u666f\u7684\u4eff\u771f\u793a\u4f8b\u3002\u8be5\u6a21\u5f0f\u4e0b\u540c\u6837\u6709\u56de\u653e\u529f\u80fd\u548c\u4ea4\u4e92\u5f0f\u56de\u653e\u529f\u80fd\uff0c\u8fd0\u884c <code>FixedSimReplayExample.py</code> \u548c <code>FixedSimInterReplayExample</code> \u53ef\u67e5\u770b\u76f8\u5173\u7684\u793a\u4f8b\uff0c\u8fd9\u91cc\u4e0d\u518d\u8d58\u8ff0\u3002</p>"},{"location":"zh/GettingStarted/otherFunction/#_2","title":"\u952e\u76d8\u64cd\u7eb5\u51b3\u7b56","text":"<p>LimSim \u7684\u51b3\u7b56\u89c4\u5212\u7b97\u6cd5\u63d0\u4f9b\u4e86\u952e\u76d8\u64cd\u7eb5\u7684\u529f\u80fd\uff0c\u5728\u8fd0\u884c\u51b3\u7b56\u89c4\u5212\u7b97\u6cd5\u65f6\uff0c\u70b9\u51fb\u952e\u76d8 <code>&lt;-</code> \u952e\u6216 <code>A</code> \u952e\uff0c\u4f1a\u5411 Ego \u4f20\u9012\u5411\u5de6\u53d8\u9053\u7684\u51b3\u7b56\u4fe1\u606f\uff0c\u5982\u679c\u73af\u5883\u5141\u8bb8\uff0c\u8f66\u8f86\u4f1a\u5411\u5de6\u53d8\u9053\u3002\u7c7b\u4f3c\u7684\uff0c\u70b9\u51fb <code>-&gt;</code> \u952e\u6216 <code>D</code> \u952e\uff0cEgo \u4f1a\u6536\u5230\u5411\u53f3\u53d8\u9053\u7684\u51b3\u7b56\u4fe1\u606f\u3002</p>"},{"location":"zh/GettingStarted/otherFunction/#_3","title":"\u4eff\u771f\u6c47\u62a5","text":"<p>\u5bf9\u4e8e\u4eff\u771f\u751f\u6210\u7684\u6570\u636e\u5e93\uff0cLimSim \u63d0\u4f9b\u4e86\u4e00\u4e2a\u6574\u4f53\u7684\u5206\u6790\u4e0e\u6c47\u62a5\uff0c\u8fd0\u884c\u4e0b\u9762\u7684\u6307\u4ee4\uff0c\u4f1a\u751f\u6210\u6c47\u62a5\u6587\u4ef6 <code>report/report.md</code>\u3002</p> <pre><code>python utils/report.py egoTrackingTest.db\n</code></pre> <p>\u6c47\u62a5\u6587\u4ef6\u4e3b\u8981\u662f\u5bf9\u4eff\u771f\u7684\u7ed3\u679c\u7684\u6574\u4f53\u8bc4\u4ef7\uff0c\u6bd4\u5982\u7ed8\u5236\u901f\u5ea6\u5206\u5e03\u66f2\u7ebf\uff0c\u663e\u793a\u5371\u9669\u573a\u666f\u7684\u6b21\u6570\u7b49\u3002</p>"},{"location":"zh/GettingStarted/realtimeSim/","title":"Real-time Simulation","text":"<p>\u8ddf\u968f Ego \u7684\u5b9e\u65f6\u4eff\u771f\u662f LimSim \u7684\u57fa\u7840\u529f\u80fd\uff0c\u8fd0\u884c\u4e0b\u9762\u7684\u6307\u4ee4\uff0c\u4f53\u9a8c\u4e00\u4e0b\uff1a</p> <pre><code>cd LimSim\npython ModelExample.py\n</code></pre>"},{"location":"zh/GettingStarted/realtimeSim/#_1","title":"\u754c\u9762\u5e03\u5c40","text":"<p>\u82e5\u4e0a\u8ff0\u6307\u4ee4\u8fd0\u884c\u6b63\u5e38\uff0c\u4f1a\u663e\u793a\u5982\u4e0b\u753b\u9762\uff1a</p> <p></p> <p>\u6574\u4e2a\u56fe\u5f62\u754c\u9762\u5206\u4e3a\u4e94\u4e2a\u533a\u57df\u3002A \u533a\u663e\u793a\u8def\u7f51\u7684\u5168\u5c40\u89c6\u89d2\uff0c\u9ec4\u8272\u5706\u5708\u662f\u8ddf\u968f Ego \u79fb\u52a8\u7684\u611f\u5174\u8da3\u533a\u57df (Area of Interest, AoI)\uff0c\u5373\u663e\u793a Ego \u5728\u6574\u4e2a\u8def\u7f51\u4e2d\u7684\u5b9e\u65f6\u4f4d\u7f6e\uff1bB \u533a\u663e\u793a Ego \u7684\u8ddf\u968f\u89c6\u89d2\uff0c\u9ec4\u8272\u534a\u900f\u660e\u5706\u5708\u540c\u6837\u662f AoI\uff0c\u4e0e A \u533a\u4e2d\u7684\u5706\u5708\u662f\u4e00\u81f4\u7684\uff0c\u8f66\u8f86\u524d\u65b9\u7d2b\u8272\u66f2\u7ebf\u4e3a\u8f68\u8ff9\u89c4\u5212\u7b97\u6cd5\u63d0\u4f9b\u7684\u8f68\u8ff9\uff1bC \u533a\u4e3a Ego \u7684\u72b6\u6001\u663e\u793a\u533a\uff0c\u4f1a\u663e\u793a Ego \u7684\u5b9e\u65f6\u901f\u5ea6\u548c\u52a0\u901f\u5ea6\u3002\u6ce8\u610f X \u8f74\u7684\u5750\u6807\uff0c0 \u70b9\u5728 x \u8f74\u7684\u6b63\u4e2d\u95f4\uff0c\u8868\u793a\u5f53\u524d\u65f6\u523b\uff0c0 \u70b9\u5de6\u534a\u8fb9\u8868\u793a\u5386\u53f2\u7684\u901f\u5ea6\u548c\u52a0\u901f\u5ea6\uff0c0 \u70b9\u7684\u53f3\u534a\u8fb9\u8868\u793a\u672a\u6765\u7684\u901f\u5ea6\u548c\u52a0\u901f\u5ea6\uff08\u5373\u89c4\u5212\u7b97\u6cd5\u63d0\u4f9b\u7684\u901f\u5ea6\u548c\u52a0\u901f\u5ea6\uff09\uff0c\u6b64\u5916\u901f\u5ea6\u8f74\u7684\u53d6\u503c\u8303\u56f4\u53d6\u51b3\u4e8e\u9053\u8def\u7684\u9650\u901f\uff1bD \u533a\u4e3a\u4eff\u771f\u4fe1\u606f\u5c55\u793a\u533a\u57df\uff0c\u663e\u793a\u4eff\u771f\u7684\u6a21\u5f0f\uff0c\u4eff\u771f\u65f6\u523b\uff0cEgo \u6240\u5728\u8f66\u9053\uff0c\u4ee5\u53ca Ego \u5728\u8f66\u9053\u4e0a\u7684\u4f4d\u7f6e\uff1bE \u533a\u4e3a\u573a\u666f\u8bc4\u4ef7\u533a\u57df\uff0c\u5b9e\u65f6\u663e\u793a\u5bf9\u573a\u666f\u7684\u8bc4\u4ef7\uff0c\u6bcf\u4e2a\u6307\u6807\u7684\u5177\u4f53\u542b\u4e49\u8bf7\u53c2\u8003 \u573a\u666f\u8bc4\u4ef7\u3002</p> <p>AoI (Area of Interest)</p> <p>AoI \u53ef\u4ee5\u89c6\u4e3a Ego \u7684\u611f\u77e5\u533a\u57df\uff0c\u662f LimSim \u4e3a\u4e86\u8fdb\u884c\u957f\u65f6\u4eff\u771f\u505a\u51fa\u7684\u6298\u4e2d\u65b9\u6848\u3002\u957f\u65f6\u4eff\u771f\u610f\u5473\u7740\u5927\u8303\u56f4\u8def\u7f51\u548c\u5927\u91cf\u4ea4\u901a\u6d41\uff0c\u65e0\u6cd5\u5bf9\u6240\u6709\u8f66\u8f86\u8fdb\u884c\u8f68\u8ff9\u89c4\u5212\u3002\u56e0\u6b64\uff0cAoI \u5185\u90e8\u7684\u8f66\u8f86\uff0c\u5176\u884c\u4e3a\u7531\u51b3\u7b56-\u89c4\u5212\u6a21\u578b\u63a7\u5236\uff0c\u5728 Ego \u7684\u5468\u56f4\u8425\u9020\u591a\u6837\u4e14\u771f\u5b9e\u7684\u9a7e\u9a76\u73af\u5883\uff1bAoI \u5916\u90e8\u7684\u8f66\u8f86\uff0c\u7531 SUMO \u63a7\u5236\uff0c\u7b26\u5408\u57fa\u672c\u7684\u4ea4\u901a\u89c4\u5f8b\u3002</p>"},{"location":"zh/GettingStarted/realtimeSim/#_2","title":"\u793a\u4f8b\u5206\u6790","text":"<p>\u8be5\u4eff\u771f\u793a\u4f8b\u5177\u6709\u5982\u4e0b\u7684\u7ed3\u6784\uff1a</p> <pre><code>from simModel.egoTracking.model import Model\nfrom trafficManager.traffic_manager import TrafficManager\nnetFile = 'data/networkFiles/CarlaTown05/Town05.net.xml'\nrouFile = 'data/networkFiles/CarlaTown05/carlavtypes.rou.xml,data/networkFiles/CarlaTown05/Town05.rou.xml'\nif __name__ == '__main__': # (1)\nmodel = Model(\negoID = '61', \nnetFile = netFile, \nrouFile = rouFile, \ndataBase = 'egoTrackingTest.db'\n)\nmodel.start()\nplanner = TrafficManager(model)\nwhile not model.tpEnd:\nmodel.moveStep()\nif model.timeStep % 5 == 0:\nroadgraph, vehicles = model.exportSce()\nif model.tpStart and roadgraph:\ntrajectories = planner.plan(\nmodel.timeStep * 0.1, roadgraph, vehicles)\nmodel.setTrajectories(trajectories)\nelse:\nmodel.ego.exitControlMode() # (2)\nmodel.updateVeh()\nmodel.destroy()\n</code></pre> <ol> <li>  \u5728 Windows \u7cfb\u7edf\u4e0b\uff0c\u8bf7\u52a1\u5fc5\u4fdd\u8bc1 model \u7684\u76f8\u5173\u4ee3\u7801\u90fd\u5728 <code>if __name__ == '__main__':</code> \u8303\u56f4\u5185\uff0c\u5426\u5219\u7a0b\u5e8f\u4f1a\u5d29\u6e83\u3002\u4e3b\u8981\u539f\u56e0\u5728\u4e8e SUMO \u4f7f\u7528\u4e86 Python \u7684 multiprocessing \u6a21\u5757\uff0c\u800c\u8be5\u6a21\u5757\u4ea7\u751f\u8fdb\u7a0b\u7684\u65b9\u6cd5\uff0c\u5728 Windows \u4e0b \u548c Linux \u4e0b\u5b58\u5728\u4e0d\u540c\uff0c\u8be6\u60c5\u8bf7\u53c2\u8003\uff1acontexts-and-start-methods</li> <li>\u5982\u679c\u4e0d\u518d\u63a7\u5236 Ego\uff0c\u8bb0\u5f97\u5c06\u63a7\u5236\u6743\u4ea4\u8fd8\u7ed9 SUMO\u3002</li> </ol> <p>\u7a0b\u5e8f\u7684\u7b2c 8 \u884c\u662f\u6a21\u578b\u7684\u521d\u59cb\u5316\uff0c\u4e3b\u8981\u7684\u53c2\u6570\u6709 <code>egoID</code> \uff0c\u7528\u6765\u6307\u5b9a\u7684 Ego car \u7684 ID\u3002\u8fd9\u91cc\u6211\u4eec\u4f7f\u7528 SUMO \u8fdb\u884c\u73af\u5883\u4ea4\u901a\u6d41\u7684\u7ba1\u7406\uff0c\u8def\u7f51\u4e2d\u6240\u6709\u8f66\u8f86\u7684\u8def\u5f84\u4fe1\u606f\u5b9e\u9645\u4e0a\u662f\u88ab\u5b9a\u4e49\u5728 <code>Town05.rou.xml</code> \u4e2d\u7684\u3002\u56e0\u6b64\u4f60\u53ef\u4ee5\u67e5\u770b\u8fd9\u4e2a\u6587\u4ef6\uff0c\u9009\u62e9\u559c\u6b22\u7684\u4e00\u8f86\u8f66\u4f5c\u4e3a Ego car\uff0c\u6216\u8005\u4f60\u53ef\u4ee5\u53c2\u8003 \u81ea\u5b9a\u4e49\u8f66\u8f86\u548c\u8def\u5f84\u6765\u751f\u6210\u7279\u5b9a\u8def\u5f84\u7684\u8f66\u8f86\u6765\u8fdb\u884c\u6a21\u578b\u7684\u4eff\u771f\u548c\u7b97\u6cd5\u7684\u6d4b\u8bd5\u3002\u7136\u540e\u662f\u4eff\u771f\u4f7f\u7528\u7684\u8def\u7f51\u8def\u7f51\u6587\u4ef6 <code>netFile</code> \u548c\u8def\u5f84\u6587\u4ef6 <code>rouFile</code> \uff0c\u8fd9\u4e9b\u6587\u4ef6\u7684\u751f\u6210\u548c\u5b9a\u4e49\u8bf7\u53c2\u8003 SUMO \u7684\u6587\u6863\u3002<code>dataBase</code> \u4e3a\u8bb0\u5f55\u4eff\u771f\u6570\u636e\u7684\u6570\u636e\u5e93\uff0c\u5b57\u7b26\u4e32\u7c7b\u578b\u3002</p> <p>\u7b2c 15 \u884c\u662f\u8f68\u8ff9\u89c4\u5212\u7b97\u6cd5\u7684\u521d\u59cb\u5316\uff0c\u5305\u62ec\u8f68\u8ff9\u9884\u6d4b\u3001\u51b3\u7b56\u3001\u89c4\u5212\u7b49\u591a\u4e2a\u6a21\u5757\u3002\u8fd9\u91cc\u4f7f\u7528\u4e86 LimSim \u5b9e\u73b0\u7684\u57fa\u7840\u7248\u672c\uff08\u9ed8\u8ba4\u53c2\u6570\uff09\uff0c\u7528\u4ee5\u63a7\u5236 AoI \u4e2d\u7684\u8f66\u8f86\uff0c\u4f60\u4e5f\u53ef\u4ee5\u66ff\u6362\u5176\u4e2d\u4efb\u4f55\u4e00\u4e2a\u73af\u8282\u4e3a\u4f60\u81ea\u5df1\u7684\u7b97\u6cd5\uff0c\u5177\u4f53\u7684\u81ea\u5b9a\u4e49\u65b9\u6cd5\u8bf7\u53c2\u8003 \u81ea\u5b9a\u4e49\u7b97\u6cd5\u3002</p> <p>17 \u884c\u5f00\u59cb\u662f\u7a0b\u5e8f\u8fd0\u884c\u7684\u4e3b\u8981\u73af\u8282\uff0c<code>model.tpEnd</code> \u662f\u5e03\u5c14\u53d8\u91cf\uff0c\u7528\u6765\u8868\u5f81 Ego \u662f\u5426\u5230\u8fbe\u7ec8\u70b9\uff0c\u5373\u7a0b\u5e8f\u662f\u5426\u7ed3\u675f\u3002<code>model.moveStep()</code> \u548c <code>model.updateVeh()</code> \u662f\u4eff\u771f\u66f4\u65b0\u7684\u6d41\u7a0b\uff0c\u524d\u8005\u7528\u4e8e\u83b7\u53d6\u6240\u6709\u4ea4\u901a\u53c2\u4e0e\u8005\u7684\u4fe1\u606f\uff0c\u540e\u8005\u7528\u4e8e\u66f4\u65b0\uff08\u63a7\u5236\uff09\u6240\u6709\u4ea4\u901a\u53c2\u4e0e\u8005\u7684\u4fe1\u606f\u3002\u56e0\u6b64\u5728\u4e24\u8005\u4e4b\u95f4\uff0c\u53ef\u4ee5\u7528\u8f68\u8ff9\u89c4\u5212\u7b97\u6cd5\u63a7\u5236 AoI \u4e2d\u7684\u8f66\u8f86\u3002</p> <p>\u7531\u4e8e\u8f68\u8ff9\u89c4\u5212\u7b97\u6cd5\u901a\u5e38\u6bd4\u8f83\u8017\u65f6\uff0c\u800c\u4e14\u4e00\u6b21\u89c4\u5212\u53ef\u4ee5\u7ed9\u51fa\u672a\u6765\u591a\u5e27\u7684\u8f68\u8ff9\uff0c\u6240\u4ee5\u6211\u4eec\u53ef\u4ee5\u6bcf 5 \u5e27\u8fdb\u884c\u4e00\u6b21\u8f68\u8ff9\u89c4\u5212\uff0c\u5373 <code>if model.timeStep % 5 == 0:</code>\u3002\u7136\u540e\uff0c\u7531 <code>roadgraph, vehicles = model.exportSce()</code> \u83b7\u5f97\u5f53\u524d\u65f6\u523b Ego \u9644\u8fd1\u7684\u573a\u666f\u3002\u5176\u4e2d\uff0c<code>roadgraph</code> \u4e3a Ego \u5468\u56f4\u7684\u8def\u7f51\u4fe1\u606f\uff0c<code>vehicles</code> \u4e3a Ego \u5468\u56f4\u8f66\u8f86\u7684\u4fe1\u606f\uff0c\u8fd9\u4e9b\u4fe1\u606f\u7684\u4f7f\u7528\u65b9\u6cd5\u53ef\u4ee5\u53c2\u8003 XXXXX\u3002\u8f68\u8ff9\u89c4\u5212\u7b97\u6cd5\u8fd4\u56de\u7684\u8f68\u8ff9\u5219\u901a\u8fc7 <code>model.setTrajectories()</code> \u4f20\u56de\u4eff\u771f\u4e2d\u3002</p> <p>\u4e0a\u8ff0\u4eff\u771f\u8fd0\u884c\u5b8c\u6210\u540e\uff0c\u4f1a\u5c06\u4eff\u771f\u8fc7\u7a0b\u4e2d\u6240\u6709\u7684\u6570\u636e\u5b58\u653e\u5728 <code>egoTrackingTest.db</code> \u4e2d\uff0c\u4f9b\u56de\u653e\u548c\u5206\u6790\u6240\u7528\uff0c\u5173\u4e8e\u6570\u636e\u5e93\u7684\u4ecb\u7ecd\uff0c\u53ef\u4ee5\u53c2\u8003\u6570\u636e\u5e93\u3002</p>"},{"location":"zh/GettingStarted/replayAndIreplay/","title":"Replay & Interactive Replay","text":"<p>\u56de\u653e\u662f\u4eff\u771f\u7a0b\u5e8f\u7684\u91cd\u8981\u529f\u80fd\uff0c\u53ef\u4ee5\u5e2e\u52a9\u6211\u4eec\u6df1\u5165\u5206\u6790\u5371\u9669\u573a\u666f\u548c\u5931\u8d25\u573a\u666f\u4ea7\u751f\u7684\u539f\u56e0\uff0c\u4ece\u800c\u4f18\u5316\u76f8\u5173\u7b97\u6cd5\u3002LimSim \u540c\u6837\u63d0\u4f9b\u4e86\u56de\u653e\u529f\u80fd\uff0c\u53ef\u4ee5\u5bf9\u5b9e\u65f6\u4eff\u771f\u751f\u6210\u7684\u6570\u636e\u8fdb\u884c\u56de\u653e\u3002\u5728\u6b64\u57fa\u7840\u4e0a\uff0c\u6211\u4eec\u63d0\u4f9b\u4e86\u4ea4\u4e92\u5f0f\u56de\u653e\u529f\u80fd\uff0c\u5e2e\u52a9\u7b97\u6cd5\u5728\u5173\u952e\u573a\u666f\u4e0a\u8fdb\u884c\u66f4\u65b0\u8fed\u4ee3\u3002</p>"},{"location":"zh/GettingStarted/replayAndIreplay/#_1","title":"\u4eff\u771f\u56de\u653e","text":"<p>\u5728\u6839\u76ee\u5f55\u4e0b\uff0c\u8fd0\u884c\u4e0b\u5217\u6307\u4ee4\u53ef\u4ee5\u8c03\u7528 LimSim \u7684\u56de\u653e\u529f\u80fd\uff1a</p> <pre><code>python ReplayExample.py\n</code></pre>"},{"location":"zh/GettingStarted/replayAndIreplay/#_2","title":"\u754c\u9762\u5e03\u5c40","text":"<p>\u4e0a\u8ff0\u6307\u4ee4\u4f1a\u8c03\u51fa\u56de\u653e\u529f\u80fd\u7684\u754c\u9762\uff0c\u5982\u4e0b\u56fe\u6240\u793a:</p> <p></p> <p>\u53ef\u4ee5\u770b\u5230\uff0c\u76f8\u8f83\u4e8e\u5b9e\u65f6\u4eff\u771f\uff0c\u56de\u653e\u7684\u754c\u9762\u591a\u4e86\u4e00\u4e2a\u63a7\u5236\u9762\u677f\uff0c\u8be5\u533a\u57df\u53ef\u4ee5\u63a7\u5236\u56de\u653e\u7684\u5f00\u59cb\u4e0e\u6682\u505c\uff0c\u56de\u653e\u7684\u901f\u5ea6\u7b49\uff0c\u65b9\u4fbf\u67e5\u770b\u4eff\u771f\u7684\u5173\u952e\u7ec6\u8282\u3002\u6b64\u5916\u5728 B \u533a\uff0c\u6211\u4eec\u53ef\u4ee5\u770b\u5230\u8f66\u8f86\u524d\u65b9\u6709\u7c89\u7ea2\u8272\u7684\u66f2\u7ebf\uff0c\u8be5\u66f2\u7ebf\u662f\u6570\u636e\u5e93\u8bb0\u5f55\u7684\u8f66\u8f86\u7684\u672a\u6765\u8f68\u8ff9\uff0c\u8f66\u8f86\u4f1a\u5b8c\u5168\u6309\u7167\u7c89\u7ea2\u8272\u66f2\u7ebf\u7684\u8f68\u8ff9\u884c\u9a76\uff0c\u6211\u4eec\u5c06\u5176\u79f0\u4e3a <code>dbTrajectory</code>\uff1b\u4e0e\u4e4b\u5bf9\u5e94\u7684\uff0c\u8f68\u8ff9\u89c4\u5212\u7b97\u6cd5\u63d0\u4f9b\u7684\u7d2b\u8272\u66f2\u7ebf\u88ab\u5b9a\u4e49\u4e3a <code>plannedTrajectory</code>\u3002C \u533a\u5728\u663e\u793a\u8f66\u8f86\u72b6\u6001\u65f6\uff0c\u5728 0 \u70b9\u7684\u53f3\u4fa7\uff0c\u540c\u6837\u662f\u663e\u793a\u6570\u636e\u5e93\u4e2d\u8bb0\u5f55\u7684\u8f66\u8f86\u7684\u901f\u5ea6\u548c\u52a0\u901f\u5ea6\u3002</p>"},{"location":"zh/GettingStarted/replayAndIreplay/#_3","title":"\u793a\u4f8b\u5206\u6790","text":"<p>\u4eff\u771f\u56de\u653e\u7684\u793a\u4f8b\u4ee3\u7801\u5f88\u7b80\u5355\uff0c\u5982\u4e0b\u6240\u793a\uff1a</p> <pre><code>rmodel = ReplayModel(dataBase = 'egoTrackingTest.db')\nwhile not rmodel.tpEnd:\nrmodel.moveStep() # (1)\nrmodel.gui.destroy()\n</code></pre> <ol> <li> \u8fd9\u91cc\u7531\u4e8e\u4e0d\u9700\u8981\u4e0e SUMO \u4ea4\u6362\u6570\u636e\uff0c\u6240\u4ee5\u53ea\u9700\u8981\u8fd0\u884c <code>rmodel.moveStep()</code> \u5373\u53ef\u3002</li> </ol> <p>\u4eff\u771f\u56de\u653e\u7684\u521d\u59cb\u5316\u53ea\u9700\u8981\u6307\u5b9a\u6570\u636e\u5e93\uff0c\u4e14\u4e0d\u9700\u8981\u540c\u5916\u90e8\u8fdb\u884c\u4ea4\u4e92\uff0c\u56e0\u6b64\u8be5\u793a\u4f8b\u7684\u4ee3\u7801\u76f8\u5bf9\u7b80\u5355\u3002</p>"},{"location":"zh/GettingStarted/replayAndIreplay/#_4","title":"\u4ea4\u4e92\u5f0f\u56de\u653e","text":"<p>\u5728\u81ea\u52a8\u9a7e\u9a76\u6d4b\u8bd5\u4eff\u771f\u7684\u8fc7\u7a0b\u4e2d\uff0c\u53ef\u80fd\u4f1a\u51fa\u73b0\u90e8\u5206\u5371\u9669\u573a\u666f\u548c\u5931\u8d25\u573a\u666f\uff0c\u8fd9\u4e9b\u573a\u666f\u662f\u81ea\u52a8\u9a7e\u9a76\u6d4b\u8bd5\u5347\u7ea7\u7684\u91cd\u8981\u6570\u636e\u6765\u6e90\u3002\u56e0\u6b64\uff0c\u5728\u5371\u9669\u573a\u666f\u4e0a\u8fdb\u884c\u91cd\u65b0\u6d4b\u8bd5\u662f\u5f88\u91cd\u8981\u7684\u4e00\u4e2a\u529f\u80fd\u3002\u7136\u800c\uff0c\u5982\u679c\u4ec5\u5bf9 Ego \u8fdb\u884c\u91cd\u65b0\u63a7\u5236\uff0c\u5468\u56f4\u7684\u8f66\u8f86\u4e0d\u5bf9 Ego \u7684\u884c\u4e3a\u505a\u51fa\u54cd\u5e94\uff0c\u6d4b\u8bd5\u5c31\u5931\u53bb\u4e86\u672c\u8eab\u7684\u610f\u4e49\u3002\u56e0\u6b64\uff0cLimSim \u63d0\u4f9b\u4e86\u4ea4\u4e92\u5f0f\u56de\u653e\u7684\u529f\u80fd\uff0c\u8ba9\u7528\u6237\u53ef\u4ee5\u5728\u5371\u9669\u573a\u666f\u4e2d\u8fed\u4ee3\u7b97\u6cd5\u3002</p> <p></p> <p>\u4ea4\u4e92\u5f0f\u4eff\u771f\u9700\u8981\u4e3a\u573a\u666f\u4e2d\u7684\u8f66\u8f86\u89c4\u5212\u65b0\u7684\u8f68\u8ff9\uff0c\u4e5f\u5c31\u9700\u8981\u5904\u7406\u65b0\u65e7\u8f68\u8ff9\u4e4b\u95f4\u7684\u51b2\u7a81\u3002\u5982\u4e0a\u56fe\u6240\u793a\uff0c\u4e24\u8f66\u6309\u7167\u539f\u59cb\u8f68\u8ff9\u884c\u9a76\u662f\u6ca1\u6709\u51b2\u7a81\u7684\uff0c\u4f46\u662f\u5f53 ego \u6539\u53d8\u8f68\u8ff9\u7684\u65f6\u5019\uff0c\u5c31\u53ef\u80fd\u4e0e\u5176\u4ed6\u8f66\u8f86\u53d1\u751f\u78b0\u649e\u3002\u8fd9\u65f6\uff0c\u5176\u4ed6\u8f66\u8f86\u9700\u8981\u505a\u51fa\u54cd\u5e94\u6765\u907f\u514d\u78b0\u649e\uff0c\u4e5f\u5c31\u662f\u6309\u7167\u56fe\u4e2d\u7d2b\u8272\u7684\u8f68\u8ff9\u6765\u884c\u9a76\u3002\u7136\u800c\uff0c\u5f53ego \u8fdc\u79bb\u4e86\u8fd9\u4e2a\u573a\u666f\uff0c\u521a\u624d\u88ab\u63a7\u5236\u7684\u8f66\u8f86\u5c31\u9762\u4e34\u4e00\u4e2a\u95ee\u9898\u2014\u2014\u662f\u5426\u56de\u5230\u539f\u8f68\u8ff9\u4e0a\u3002\u5982\u679c\u56de\u5230\u539f\u8f68\u8ff9\u4e0a\uff0c\u5c31\u4f1a\u4ea7\u751f\u4f4d\u7f6e\u7684\u7a81\u53d8\uff0c\u53ef\u80fd\u5bfc\u81f4\u65b0\u7684\u51b2\u7a81\uff0c\u5982\u679c\u4e0d\u56de\u5230\u539f\u8f68\u8ff9\u4e0a\uff0c\u5219\u8f66\u8f86\u540e\u7eed\u7684\u8f68\u8ff9\u5c31\u6ca1\u6709\u4e86\u53ea\u80fd\u505c\u5728\u539f\u5730\u6216\u6d88\u5931\u3002</p> <p>LimSim \u5c06\u4e0a\u8ff0\u95ee\u9898\u62c6\u6210\u4e09\u4e2a\u5b50\u95ee\u9898\u6765\u89e3\u51b3\uff1a1. \u4f55\u65f6\u4e3a\u8f66\u8f86\u89c4\u5212\u65b0\u7684\u8f68\u8ff9\uff1b2. \u89c4\u5212\u8f68\u8ff9\u8981\u6301\u7eed\u591a\u4e45\uff1b3. \u8f68\u8ff9\u89c4\u5212\u7ed3\u675f\u540e\uff0c\u5982\u4f55\u5904\u7406\u8fd9\u8f86\u8f66\u3002</p> <p>\u7b2c\u4e00\uff0c\u4e3a\u8f66\u8f86\u89c4\u5212\u65b0\u7684\u8f68\u8ff9\u5e76\u4e0d\u662f\u8d8a\u65e9\u8d8a\u597d\uff0c\u5982\u679c\u8f66\u8f86\u521a\u751f\u6210\u5c31\u4e3a\u5176\u89c4\u5212\u65b0\u7684\u8f68\u8ff9\uff0c\u90a3\u5bf9\u6570\u636e\u7684\u5229\u7528\u7a0b\u5ea6\u592a\u4f4e\uff0c\u4ec5\u4ec5\u7528\u5230\u4e86\u8f66\u8f86\u751f\u6210\u7684\u4f4d\u7f6e\u3002\u56e0\u6b64 LimSim \u4f7f\u7528\u78b0\u649e\u68c0\u6d4b\u6765\u5224\u65ad\u662f\u5426\u9700\u8981\u4e3a\u8f66\u8f86\u89c4\u5212\u65b0\u7684\u8f68\u8ff9\u3002\u5982\u679c\u8f66\u8f86\u7684\u539f\u59cb\u8f68\u8ff9\u4e0e\u5176\u4ed6\u8f66\u8f86\u7684\u65b0\u8f68\u8ff9\u51b2\u7a81\uff08\u8f66\u8f86\u9996\u5148\u8981\u5728 AoI \u5185\uff09\uff0c\u5219\u9700\u8981\u4e3a\u8f66\u8f86\u91cd\u65b0\u89c4\u5212\u8f68\u8ff9\uff0c\u5426\u5219\u5c31\u7ef4\u6301\u539f\u8f68\u8ff9\u884c\u9a76\u3002</p> <p>\u7b2c\u4e8c\uff0c\u524d\u6587\u63d0\u5230\u8f66\u8f86\u8131\u79bb\u63a7\u5236\u540e\u8981\u4e48\u8df3\u56de\u539f\u8f68\u8ff9\uff0c\u8981\u4e48\u505c\u5728\u539f\u5730\u6216\u6d88\u5931\u3002\u8fd9\u4e24\u79cd\u5f62\u5f0f\u663e\u7136\u90fd\u4f1a\u5927\u5927\u964d\u4f4e\u4eff\u771f\u7684\u8fde\u8d2f\u6027\u548c\u6709\u6548\u6027\u3002\u56e0\u6b64 LimSim \u4f1a\u5224\u65ad\u8131\u79bb\u63a7\u5236\u7684\u8f66\u8f86\u662f\u5426\u8fd8\u5728 AoI \u5185\uff0c\u5982\u679c\u8f66\u8f86\u4ecd\u5728 AoI \u5185\uff0c\u5373\u4f7f\u4e0d\u518d\u51b2\u7a81\uff0cLimSim \u4f9d\u7136\u4f1a\u7ee7\u7eed\u4e3a\u5176\u89c4\u5212\u8f68\u8ff9\uff0c\u76f4\u5230\u5176\u79bb\u5f00 AoI\u3002\u8fd9\u6837\u505a\u4e3b\u8981\u662f\u4e3a\u4e86\u4fdd\u8bc1 AoI \u5185\u7684\u573a\u666f\u662f\u8fde\u8d2f\u7684\uff0c\u800c\u5728 AoI \u5916\u7684\u8f66\u8f86\u5219\u5bf9 ego \u7684\u5f71\u54cd\u8f83\u5c0f\u3002</p> <p>\u7b2c\u4e09\uff0c\u5f53\u8f66\u8f86\u4e0d\u518d\u9700\u8981\u4ea4\u4e92\uff0c\u4e14\u79bb\u5f00\u4e86 AoI\uff0c\u5219\u63a7\u5236\u9636\u6bb5\u7ed3\u675f\u3002\u8fd9\u65f6\u5982\u679c\u8ba9\u8f66\u8f86\u56de\u5230\u539f\u8f68\u8ff9\uff0c\u5219\u53ef\u80fd\u4e0e\u5176\u4ed6\u8f66\u8f86\u53d1\u751f\u78b0\u649e\uff0c\u56e0\u6b64 LimSim \u9009\u62e9\u76f4\u63a5\u9500\u6bc1\u8fd9\u8f86\u8f66\u3002\u5982\u679c\u6570\u636e\u96c6\u4e2d\u8fd8\u6709\u8fd9\u8f86\u8f66\u7684\u5269\u4f59\u8f68\u8ff9\uff0c\u5219\u4f1a\u5728\u5bf9\u5e94\u7684\u65f6\u523b\u91cd\u65b0\u751f\u6210\u8fd9\u8f86\u8f66\u3002\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0cLimSim \u5728\u751f\u6210\u8f66\u8f86\u7684\u65f6\u5019\uff0c\u90fd\u4f1a\u5224\u65ad\u8be5\u8f66\u662f\u5426\u4f1a\u4e0e\u8def\u7f51\u4e2d\u73b0\u6709\u7684\u8f66\u8f86\u4ea7\u751f\u51b2\u7a81\uff0c\u5982\u679c\u4e0d\u51b2\u7a81\u5219\u751f\u6210\u8f66\u8f86\uff0c\u53cd\u4e4b\uff0c\u5219\u5ef6\u8fdf\u5230\u4e0b\u4e00\u4e2a\u65f6\u523b\u518d\u751f\u6210\u3002</p> <p>\u78b0\u649e\u68c0\u6d4b</p> <p>\u4e00\u822c\u7684\u78b0\u649e\u68c0\u6d4b\u7b97\u6cd5\u4f1a\u4f7f\u7528\u5206\u79bb\u8f74\u5b9a\u7406\u5224\u65ad\u4e24\u4e2a\u77e9\u5f62\u662f\u5426\u76f8\u4ea4\uff0c\u8fd9\u79cd\u65b9\u6cd5\u53ef\u4ee5\u5224\u65ad\u67d0\u4e2a\u65f6\u523b\u4e24\u8f66\u662f\u5426\u76f8\u649e\u3002\u4f46\u662f\u5728\u4eff\u771f\u4e2d\uff0c\u6211\u4eec\u8981\u4e3a\u8f66\u8f86\u7559\u51fa\u8db3\u591f\u7684\u53cd\u5e94\u65f6\u95f4\u3002\u6bd4\u5982 A \u8f66\u751f\u6210\u65f6\uff0c\u524d\u65b9 3 \u7c73\u5904\u6709\u4e00\u8f86 B \u8f66\u5728\u884c\u9a76\uff0c\u5373\u4f7f\u8fd9\u4e2a\u65f6\u523b\u4e24\u8f66\u4e0d\u76f8\u649e\uff0c\u672a\u6765\u51e0\u79d2\u5185\u4e24\u8f66\u8fd8\u662f\u6709\u5f88\u5927\u7684\u53ef\u80fd\u6027\u51b2\u7a81\u3002\u56e0\u6b64\uff0cLimSim \u4f1a\u4f7f\u7528\u8f66\u8f86\u672a\u6765\u7684\u8f68\u8ff9\uff08<code>dbTrajectory</code> \u6216 <code>plannedTrajectory</code>\uff09\u6765\u8fdb\u884c\u78b0\u649e\u68c0\u6d4b\uff0c\u4ee5\u907f\u514d\u6f5c\u5728\u7684\u51b2\u7a81\u3002</p>"},{"location":"zh/GettingStarted/replayAndIreplay/#_5","title":"\u4eff\u771f\u793a\u4f8b","text":"<p>\u4ecb\u7ecd\u4e86\u5b9e\u73b0\u65b9\u6cd5\u4e4b\u540e\uff0c\u8fd0\u884c\u4e0b\u9762\u7684\u6307\u4ee4\uff0c\u53ef\u4ee5\u8fd0\u884c\u4ea4\u4e92\u5f0f\u4eff\u771f\u7684\u793a\u4f8b\uff1a</p> <pre><code>python InterReplayExample.py\n</code></pre> <p>\u5982\u679c\u4e0a\u8ff0\u6307\u4ee4\u8fd0\u884c\u6b63\u5e38\uff0c\u5219\u540c\u6837\u4f1a\u8c03\u51fa\u56fe\u5f62\u754c\u9762\u3002\u56fe\u5f62\u754c\u9762\u7684\u6574\u4f53\u7ed3\u6784\u4e0e\u5b9e\u65f6\u4eff\u771f\u4e00\u81f4\uff0c\u4ec5\u5728 B \u533a\u6709\u4e9b\u8bb8\u4e0d\u540c\u3002\u5982\u4e0b\u56fe\u6240\u793a\uff0c\u8f66\u8f86\u524d\u9762\u7684\u66f2\u7ebf\u6709\u7c89\u7ea2\u8272\u548c\u7d2b\u8272\u4e24\u79cd\uff0c\u5206\u522b\u5bf9\u5e94\u524d\u6587\u63d0\u53ca\u7684 <code>dbTrajectory</code> \u548c <code>plannedTrajectory</code>\u3002\u8f66\u8f86\u5982\u679c\u6309\u7167\u6570\u636e\u5e93\u4e2d\u7684\u8f68\u8ff9\u884c\u9a76\uff0c\u5219\u663e\u793a <code>dbTrajectory</code>\uff0c\u5982\u679c\u53d7\u5230\u51b3\u7b56\u89c4\u5212\u7b97\u6cd5\u7684\u63a7\u5236\uff0c\u5219\u663e\u793a <code>plannedTrajectory</code>\u3002</p> <p></p> <p>\u793a\u4f8b\u4ee3\u7801\u5982\u4e0b\uff1a</p> <pre><code>from trafficManager.traffic_manager import TrafficManager\nfrom simModel.egoTracking import interReplay\nirmodel = interReplay.InterReplayModel(\ndataBase='egoTrackingTest.db', \nstartFrame=4000\n)\nplanner = TrafficManager(irmodel)\nwhile not irmodel.tpEnd:\nirmodel.moveStep()\nif irmodel.timeStep % 5 == 0:\nroadgraph, vehicles = irmodel.exportSce()\nif roadgraph:\ntrajectories = planner.plan(\nirmodel.timeStep * 0.1, \nroadgraph, vehicles\n)\nelse:\ntrajectories = {} # (1)\nirmodel.setTrajectories(trajectories)\nelse:\nirmodel.setTrajectories({})\nirmodel.gui.destroy()\n</code></pre> <ol> <li>  \u8fd0\u884c\u4ea4\u4e92\u5f0f\u56de\u653e\u65f6\uff0c<code>irmodel.setTrajectories()</code> \u51fd\u6570\u662f\u5fc5\u987b\u7684\uff0c\u5373\u4f7f\u6ca1\u6709\u89c4\u5212\u8f68\u8ff9\uff0c\u4e5f\u9700\u8981\u4f20\u5165\u7a7a\u7684\u5b57\u5178\u3002</li> </ol> <p>\u793a\u4f8b\u4ee3\u7801\u6574\u4f53\u4e0e\u5b9e\u65f6\u4eff\u771f\u5dee\u522b\u4e0d\u5927\uff0c\u5c06\u8def\u7f51\u6587\u4ef6\u548c\u8def\u5f84\u6587\u4ef6\u66ff\u6362\u4e3a\u5bf9\u5e94\u7684\u6570\u636e\u5e93\u5373\u53ef\u3002</p>"}]}
\ No newline at end of file
+{"config":{"lang":["en"],"separator":"[\\s\\-]+","pipeline":["stopWordFilter"]},"docs":[{"location":"","title":"Long-term Macro-micro Interactive Simulation","text":"<p>Welcome to LimSim.</p>"},{"location":"AnalysisAndEvaluation/Database/","title":"Database","text":"<p>markdown LimSim stores all data in the database during simulation to facilitate analysis and evaluation of simulation. LimSim uses a lightweight open-source database SQLite for data storage, which makes it easy to view and migrate data. The storage of simulation data in LimSim is mainly divided into three parts: road network data, vehicle data, and simulation data, which are introduced below.</p>"},{"location":"AnalysisAndEvaluation/Database/#road-network-data","title":"Road Network Data","text":"<p>Based on the SUMO road network, LimSim models multiple types of road network structures. The following tables record road network data. When replaying data, the road network is reconstructed based on the following data.</p>"},{"location":"AnalysisAndEvaluation/Database/#edgeinfo","title":"edgeINFO","text":"Field Data Type Description <code>id</code> TEXT PRIMARY KEY ID of edge <code>laneNumber</code> INT Number of lanes on edge <code>from_junction</code> TEXT ID of starting junction of edge <code>to_junction</code> TEXT ID of ending junction of edge"},{"location":"AnalysisAndEvaluation/Database/#laneinfo","title":"laneINFO","text":"Field Data Type Description <code>id</code> TEXT PRIMARY KEY ID of lane <code>rawShape</code> TEXT Geometric structure of lane centerline <code>width</code> REAL Width of lane <code>maxSpeed</code> REAL Maximum speed of lane <code>edgeID</code> TEXT ID of edge to which lane belongs <code>length</code> REAL Length of lane <p>The <code>rawShape</code> of a lane is stored as a string in the database, separated by spaces and commas, respectively. For example, the following <code>rawShape</code> records three points, which are <code>(10.2, 100.3)</code>, <code>(14.3, 15.4)</code>, and <code>(13.4, 12.6)</code>.</p> <pre><code>10.2,100.3 14.3,15.4 13.4,12.6\n</code></pre>"},{"location":"AnalysisAndEvaluation/Database/#junctionlaneinfo","title":"junctionLaneINFO","text":"<p>In the SUMO road network, there are two types of lanes, one is generated by the user with a specific name. The other is a lane automatically generated by SUMO to connect the first type of lane. These lanes have the property of <code>internal</code>. Here for convenience, we define the second type of lane as the junctionLane. The junctionLane always connects two lanes, and some junctionLanes also have the property of traffic signals.</p> Field Data Type Description <code>id</code> TEXT PRIMARY KEY ID of junctionLane <code>width</code> REAL Width of junctionLane <code>maxSpeed</code> REAL Maximum speed of junctionLane <code>length</code> REAL Length of junctionLane <code>tlLogicID</code> TEXT ID of traffic signal control logic to which junctionLane belongs <code>tlIndex</code> INT Number in the traffic signal control logic to which the junctionLane belongs"},{"location":"AnalysisAndEvaluation/Database/#connectioninfo","title":"connectionINFO","text":"<p>As mentioned earlier, two lanes are connected by a junctionLane, and the connection records this connection relationship.</p> Field Data Type Description <code>fromLane</code> TEXT ID of starting lane <code>toLane</code> TEXT ID of ending lane <code>direction</code> TEXT Direction, refer to XXXX <code>via</code> TEXT ID of junctionLane that connects the two lanes together"},{"location":"AnalysisAndEvaluation/Database/#junctioninfo","title":"junctionINFO","text":"Field Data Type Description <code>id</code> TEXT PRIMARY KEY ID of junction <code>rawShape</code> TEXT Geometric structure of junction <p>Like the <code>rawShape</code> of a lane, the <code>rawShape</code> of a junction is also recorded as a string in the database, separated by spaces and commas, respectively. But the <code>rawShape</code> of the junction records the outer contour of the junction.</p>"},{"location":"AnalysisAndEvaluation/Database/#tllogicinfo","title":"tlLogicINFO","text":"Field Data Type Description <code>id</code> TEXT PRIMARY KEY ID of traffic signal control logic, also corresponding to junction ID <code>tlType</code> TEXT Type of traffic signal control logic, divided into\u00a0<code>static</code>,\u00a0<code>actuated</code>, and\u00a0<code>delay_based</code> <code>preDefPhases</code> TEXT Phases and order of traffic signal control logic, refer to XXX"},{"location":"AnalysisAndEvaluation/Database/#trafficlightstates","title":"trafficLightStates","text":"Field Data Type Description <code>frame</code> INT Current simulation time <code>id</code> TEXT ID of traffic signal control logic <code>currPhase</code> TEXT Current phase <code>nextPhase</code> TEXT Next phase <code>switchTime</code> REAL Remaining duration of current phase"},{"location":"AnalysisAndEvaluation/Database/#vehicle-information","title":"Vehicle Information","text":"<p>Vehicle information is divided into two types: inherent attributes of vehicles and real-time status during simulation.</p>"},{"location":"AnalysisAndEvaluation/Database/#vehicleinfo","title":"vehicleINFO","text":"Field Data Type Description <code>vid</code> INT ID of vehicle <code>length</code> REAL Length of vehicle <code>width</code> REAL Width of vehicle <code>maxAccel</code> REAL Maximum acceleration of vehicle <code>maxDecel</code> REAL Maximum deceleration rate of vehicle <code>maxSpeed</code> REAL Maximum speed of vehicle <code>vTypeID</code> TEXT ID of vehicle model <code>routes</code> TEXT Route information for the vehicle"},{"location":"AnalysisAndEvaluation/Database/#frameinfo","title":"frameINFO","text":"Field Data Type Description <code>frame</code> INT Current simulation time <code>vid</code> INT ID of vehicle <code>vtag</code> TEXT Role of vehicle, can be\u00a0<code>ego</code>,\u00a0<code>AoI</code>, or\u00a0<code>outOfAoI</code> <code>x</code> REAL X position of vehicle at this moment <code>y</code> REAL Y position of vehicle at this moment <code>yaw</code> REAL Yaw angle of vehicle at this moment, with x-axis as a starting point and counterclockwise as a positive direction <code>speed</code> REAL Speed of vehicle at this moment <code>accel</code> REAL Acceleration of vehicle at this moment <code>laneID</code> TEXT ID of lane in which the vehicle is located <code>lanePos</code> REAL Distance from the starting point of the lane to the vehicle at this moment <code>routeIdx</code> INT The number of the current section of the <p>Values processed</p> <p>The above indicators have been normalized and are not real values. For more information, please refer to Scenario Evaluation.</p> <ol> <li> <p>TTC(Time To Collision): refers to how long it will take for two vehicles to collide while they maintain their current speed.\u00a0\u21a9</p> </li> </ol>"},{"location":"AnalysisAndEvaluation/Evaluation/","title":"Evaluation","text":""},{"location":"AnalysisAndEvaluation/Evaluation/#evaluation-module","title":"Evaluation Module","text":"<p>The Evaluation module is used for real-time evaluation of the scenarios in which vehicles are located. It includes five evaluation dimensions, and the evaluation results can be used for decision-making or scenario extraction, providing data for subsequent testing.</p> <p>Now let's introduce these five dimensions one by one.</p>"},{"location":"AnalysisAndEvaluation/Evaluation/#consumption","title":"Consumption","text":"<p>We apply the following formula to calculate the energy consumption of a vehicle:</p> \\[ P = (v * a)^2 + v^3 \\] <p>Here, \\(v\\) and \\(a\\) represent the vehicle's speed and acceleration, respectively.</p> <p>Under free driving (cruising) conditions, the vehicle's speed is relatively high, and the acceleration is relatively small, resulting in higher overall energy consumption, with speed being the dominant factor. In cases where the vehicle needs to brake urgently, the speed decreases sharply, and the acceleration is relatively high, resulting in lower overall energy consumption but with discontinuous changes.</p>"},{"location":"AnalysisAndEvaluation/Evaluation/#collision","title":"Collision","text":"<p>We use the two-dimensional Time-to-Collision (TTC) to calculate possible collisions. The two-dimensional TTC is defined as the time it takes for two vehicles to collide if they continue to travel in their current speed and direction. TTC indicates potential collision risks and can be used to evaluate the safety of trajectory planning algorithms.</p> <p>Here, we have referred to the implementation of nuplan and simplified it according to our data format.</p>"},{"location":"AnalysisAndEvaluation/Evaluation/#orientation","title":"Orientation","text":"<p>We use the deviation of the vehicle from the centerline of the lane (the angle between the velocity direction and the lane centerline) as the orientation.</p> \\[ (\\sin(\\theta_{ego}) - \\sin(\\theta_{ref}))^2 \\] <p>Here, \\(\\theta_{ego}\\) and \\(\\theta_{ref}\\) represent the angles of the ego vehicle and the projection point of the ego vehicle on the reference line (in the world coordinate system). There are three points to note here: 1. For the sake of presentation, we use \\(\\sin\\) for normalization. 2. The meaning of the deviation angle is not significant within the junction, so \\(\\theta_{ref}\\) here actually refers to the \"nearest point on the <code>NormalLane</code> in the historical trajectory\". 3. Also for the sake of presentation, we have added a <code>delay</code> term to make the turning display smoother.</p> <p>Orientation can reflect the turning behavior of the vehicle, especially in scenarios that require unprotected left turns, which can be used to filter out some scenarios for testing based on the Orientation results.</p>"},{"location":"AnalysisAndEvaluation/Evaluation/#discomfort","title":"Discomfort","text":"<p>We use the square of jerk to represent discomfort.</p> \\[ \\left(\\frac{da}{dt}\\right)^2 \\] <p>Here, \\(a\\) represents the acceleration. Jerk can show the impact of sudden braking and sudden acceleration on passengers during vehicle motion.</p>"},{"location":"AnalysisAndEvaluation/Evaluation/#offset","title":"Offset","text":"<p>We use the square of the lateral coordinate \\(d\\) of the vehicle from the centerline of the lane (within the junction, this dimension is not calculated) as the offset.</p> \\[ d^2 \\] <p>Here, \\(d\\) represents the lateral coordinate of the vehicle in the Frenet coordinate system.</p> <p>Offset can be used to detect lane-changing behavior of vehicles. Since LimSim's default planner is based on the Frenet coordinate system, this dimension can be conveniently calculated.</p>"},{"location":"AnalysisAndEvaluation/Evaluation/#visualization","title":"Visualization","text":"<p>We use radar charts (also known as star charts) to visualize the results of the five evaluation dimensions. To ensure consistency in the visualization, we apply appropriate transformations to the results.</p>"},{"location":"AnalysisAndEvaluation/Evaluation/#data-retrieval","title":"Data Retrieval","text":"<p>We store the real-time evaluation results in the database for scenario extraction and analysis. We can use the following code to convert the evaluation results into a <code>DataFrame</code>:</p> <pre><code>from utils.load_data import load_data_from_database\nevaluation_df = load_data_from_data_base(path_to_data_base, 'evaluation')\n</code></pre>"},{"location":"DecisionAndPlanning/Overview/","title":"Overview","text":"<p>In LimSim, the <code>TrafficManager</code> class is used for unified management, mainly responsible for the \"prediction-decision-planning\" (PDP) process of vehicles within the AOI range, and ultimately generates a reasonable, safe, and kinematic-constraint-compliant trajectory for each vehicle.</p> <p>When using it, we need to first initialize the <code>TrafficManager</code> class, and the required parameters for initialization are as follows:</p> Parameter Name Required/Optional Description <code>model</code> Required The simulation model containing Sumo, which should be either\u00a0<code>Model</code>\u00a0or\u00a0<code>ReplayModel</code>\u00a0class. <code>predictor</code> Optional The predictor of the vehicle, which should be a subclass of\u00a0<code>AbstractPredictor</code>. <code>ego_decision</code> Optional The decision maker of the ego vehicle, which should be a subclass of\u00a0<code>AbstractEgoDecisionMaker</code>. <code>ego_planner</code> Optional The planner of the ego vehicle, which should be a subclass of\u00a0<code>AbstractEgoPlanner</code>. <code>multi_decision</code> Optional The joint decision maker for multiple vehicles, which should be a subclass of\u00a0<code>AbstractMultiDecisionMaker</code>. <code>multi_veh_planner</code> Optional The joint planner for multiple vehicles, which should be a subclass of\u00a0<code>AbstractMultiPlanner</code>. <code>config_file_path</code> Optional The configuration file path, which is responsible for storing some important configurable parameters in the PDP process. <p>LimSim has already implemented the method for the entire PDP process in advance, which means that users do not need to fill in any algorithms to run LimSim normally.</p> <p>At the same time, LimSim also supports users to replace parts or all of the algorithms in the PDP process, only need to inherit the given base class and fill in the interface, so that LimSim can have a brand new performance.</p>"},{"location":"GettingStarted/carla_cosim/","title":"LimSim, SUMO, CARLA Co-Simulation","text":"<p>CARLA is an open-source autonomous driving simulator with multiple functions including perception, positioning, etc., which can be used to help train various modules of autonomous driving. The SUMO co-simulation function provided by CARLA official allows users to use SUMO to manage the background traffic flow of the simulation, making it possible for LimSim, SUMO, and CARLA to co-simulate.</p> <p>Co-simulation is mainly achieved through SUMO's Parallel simulation function. After this function is turned on, the main program can simulate as a Server, while the subprogram can receive data as a Client. Therefore, we can run LimSim as the main program and run CARLA's co-simulation as a subprogram.</p>"},{"location":"GettingStarted/carla_cosim/#step-0-install-carla","title":"Step 0: Install CARLA","text":"<p>\u26a0\ufe0f All the instructions are based on Linux, Windows support is not tested and guaranteed.</p> <p>You need to first install CARLA  through package installation, the version of Carla is prefered to 0.9.12+. Please ref the link below:</p> <p>Quick start package installation - CARLA Simulator</p> <p>Then, please make sure SUMO co-simulation with CARLA has configured. Please ref the link below:</p> <p>SUMO - CARLA Simulator</p> <p>Now, you should have a <code>Carla</code> folder besides <code>LimSim</code> folder, and the Carla folder structure should look like:</p> <pre><code>\u251c\u2500\u2500 CarlaUE4\n\u2502   \u251c\u2500\u2500 AssetRegistry.bin\n\u2502   \u251c\u2500\u2500 Binaries\n\u2502   \u251c\u2500\u2500 CarlaUE4.uproject\n\u2502   \u251c\u2500\u2500 Config\n\u2502   \u251c\u2500\u2500 Content\n\u2502   \u2514\u2500\u2500 Plugins\n\u251c\u2500\u2500 CarlaUE4.sh\n\u251c\u2500\u2500 Co-Simulation\n\u2502   \u251c\u2500\u2500 PTV-Vissim\n\u2502   \u2514\u2500\u2500 Sumo\n\u251c\u2500\u2500 PythonAPI\n\u2502   \u251c\u2500\u2500 carla\n\u2502   \u251c\u2500\u2500 examples\n\u2502   \u251c\u2500\u2500 python_api.md\n\u2502   \u2514\u2500\u2500 util\n\u251c\u2500\u2500 README\n\u251c\u2500\u2500 ......\n\u251c\u2500\u2500 ......\n\u2514\u2500\u2500 VERSION\n</code></pre>"},{"location":"GettingStarted/carla_cosim/#step-1-run-carla-co-simulation","title":"Step 1: Run CARLA Co-simulation","text":"<p>You should open two terminal.</p> <pre><code># Terminal 1\ncd path-to-carla/\n./CarlaUE4.sh  -world-port=2000 -resx=400 -resy=300  -quality-level=Epic\n</code></pre> <p>Now you should see CARLA GUI. Then switch to another terminal:</p> <pre><code># Termnial 2\ncd path-to-carla/\ncd PythonAPI/util/\npython3 config.py --map Town05\n</code></pre> <p>Now the map in Carla is successfully switch to <code>Town05</code> map. </p> <pre><code># Terminal 2\ncd ../.. #back to carla root dir\ncd Co-Simulation/Sumo\npython3 run_synchronization.py examples/Town05.sumocfg --sumo-host 127.0.0.1  --sumo-port 8813\n</code></pre> <p>The terminal should continuly output <code>Could not connect to TraCI server at 127.0.0.1:8813 [Errno 111] Connection refused  Retrying in 1 seconds</code>, don't panic,  it means your set up is all done. Now continue to next step!</p>"},{"location":"GettingStarted/carla_cosim/#step-2-run-limsim-co-simulation","title":"Step 2: Run LimSim Co-simulation","text":"<p>Modify the code in <code>main</code> function in <code>ModelExample.py</code>:</p> <pre><code>if __name__ == \"__main__\":\nnet_file, rou_file = file_paths['CarlaTown05']\nrun_model(net_file, rou_file, ego_veh_id=\"4\", carla_cosim=True)\n</code></pre> <p>Then open a third terminal:</p> <pre><code># Terminal 3\ncd path-to-limsim/\npython ./ModelExample.py\n</code></pre> <p>Then you should see all LimSim/Sumo/CARLA GUIs are start co-simulation.</p> <p>You can use the <code>w</code>,<code>a</code>,<code>s</code>,<code>d</code>,<code>q</code>,<code>e</code> to control the view moving in CARLA.</p>"},{"location":"GettingStarted/carla_cosim/#step-3-optional-change-the-bird-eye-view-in-carla","title":"Step 3:  (Optional) Change the Bird-eye view in CARLA","text":"<p>If you want to make the view in CARLA follow ego car, the file <code>run_synchronization.py</code> in <code>Co-Simulation/Sumo</code> folder needs to be slightly modified.</p> <p>Just download this file  to replace the original <code>run_synchronization.py</code> in your folder and make sure the <code>ego_id = '4'</code> in <code>line 222</code> the id of ego car.</p> <p>Enjoy!</p>"},{"location":"GettingStarted/installDeploy/","title":"Installation & Deployment","text":"<p>LimSim is a microsimulation software designed for testing decision-planning algorithms. It allows for long-duration simulations that combine macroscopic and microscopic aspects.</p>"},{"location":"GettingStarted/installDeploy/#installation-and-deployment","title":"Installation and Deployment","text":"<p>LimSim is primarily written in Python and does not require compilation. You can directly run the source code. However, before running, ensure you have the following development environment:</p> <ul> <li>3.9.0 &lt;= Python &lt;= 3.11.0</li> <li>SUMO &gt;= 1.15.0 (Recommended version: 1.15.0)</li> </ul> <p>After configuring the runtime environment, download the LimSim source code to your local machine:</p> <pre><code>git clone https://github.com/PJLab-ADG/LimSim.git\n</code></pre> <p>Finally, you need to install the required Python extensions:</p> <pre><code>pip install -r requirements.txt\n</code></pre> <p>Now, the local installation and deployment of LimSim are complete.</p>"},{"location":"GettingStarted/installDeploy/#simulation-examples","title":"Simulation Examples","text":"<p>In the root directory, there are several simulation examples that demonstrate LimSim's functionalities. Please visit the following links to learn more details about each feature:</p> <ul> <li>Real-time Simulation</li> <li>Replay and Interactive Replay</li> <li>Other Features</li> </ul>"},{"location":"GettingStarted/otherFunction/","title":"Other Functions","text":"<p>LimSim also provides some additional features to accommodate different task requirements. Details are as follows:</p>"},{"location":"GettingStarted/otherFunction/#fixed-scene-simulation","title":"Fixed Scene Simulation","text":"<p>In addition to long-duration simulation tests following the Ego vehicle, LimSim offers a fixed-view simulation mode. In this mode, the Area of Interest (AoI) does not follow any specific vehicle but remains fixed at a specified location. Vehicles entering the AoI will still be under the control of the decision-planning algorithm. The method for invoking this mode is similar to real-time simulation. To view an example of fixed scene simulation, run <code>FixedSimExample.py</code>. This mode also supports replay and interactive replay functionalities. To view related examples, run <code>FixedSimReplayExample.py</code> and <code>FixedSimInterReplayExample.py</code>. Further details are not elaborated here.</p>"},{"location":"GettingStarted/otherFunction/#keyboard-controlled-decision-making","title":"Keyboard-Controlled Decision Making","text":"<p>LimSim's decision-planning algorithm provides keyboard-controlled functionality. During the execution of the decision-planning algorithm, pressing the <code>&lt;-</code> key on the keyboard will signal the Ego vehicle to make a left lane change decision. If the environment allows, the vehicle will change lanes to the left. Similarly, pressing the <code>-&gt;</code> key will signal the Ego vehicle to make a right lane change decision.</p>"},{"location":"GettingStarted/otherFunction/#simulation-report","title":"Simulation Report","text":"<p>For the database generated by the simulation, LimSim provides an overall analysis and report. Running the following command will generate the report file <code>report/report.md</code>.</p> <pre><code>python utils/report.py egoTrackingTest.db\n</code></pre> <p>The report file is mainly an overall evaluation of the simulation results, such as drawing speed distribution curves and displaying the number of dangerous scenarios.</p>"},{"location":"GettingStarted/realtimeSim/","title":"Real-time Simulation","text":"<p>Real-time simulation following the Ego vehicle is the fundamental feature of LimSim. To experience it, run the following command:</p> <pre><code>cd LimSim\npython ModelExample.py\n</code></pre>"},{"location":"GettingStarted/realtimeSim/#interface-layout","title":"Interface Layout","text":"<p>If the above command runs successfully, the following interface will be displayed:</p> <p></p> <p>The entire graphical interface is divided into five areas. Area A shows the global view of the road network, with a blue circle representing the Area of Interest (AoI) that follows the movement of the Ego vehicle. It displays the real-time position of the Ego vehicle within the entire road network. Area B shows the follow view of the Ego vehicle, with a blue translucent circle representing the AoI, consistent with the circle in Area A. The purple curve in front of the vehicle represents the trajectory provided by the trajectory planning algorithm. Area C is the status display area of the Ego vehicle, showing its real-time speed and acceleration. Note the X-axis coordinates; the zero point is in the middle of the X-axis, representing the current moment. The left half of the zero point shows historical speed and acceleration, while the right half shows future speed and acceleration (i.e., the speed and acceleration provided by the planning algorithm). Additionally, the speed axis's range depends on the road's speed limit. Area D is the simulation information display area, showing the simulation mode, simulation time, the lane where the Ego vehicle is located, and its position on the lane. Area E is the scene evaluation area, which displays real-time evaluations of the scene. For the specific meanings of each indicator, please refer to  \u573a\u666f\u8bc4\u4ef7\u3002</p> <p>AoI (Area of Interest)</p> <p>The AoI can be considered as the perception area of the Ego vehicle. It is a compromise solution made by LimSim to conduct long-duration simulations. Long-duration simulation involves a large road network and a large number of traffic flows, making it impossible to perform trajectory planning for all vehicles. Therefore, the behavior of vehicles inside the AoI is controlled by the decision-planning model, creating diverse and realistic driving environments around the Ego vehicle. Vehicles outside the AoI are controlled by SUMO, following basic traffic rules.</p>"},{"location":"GettingStarted/realtimeSim/#example-analysis","title":"Example Analysis","text":"<p>This simulation example has the following structure:</p> <pre><code>from simModel.egoTracking.model import Model\nfrom trafficManager.traffic_manager import TrafficManager\nnetFile = 'data/networkFiles/CarlaTown05/Town05.net.xml'\nrouFile = 'data/networkFiles/CarlaTown05/carlavtypes.rou.xml,data/networkFiles/CarlaTown05/Town05.rou.xml'\nif __name__ == '__main__': # (1)\nmodel = Model(\negoID = '61', \nnetFile = netFile, \nrouFile = rouFile, \ndataBase = 'egoTrackingTest.db'\n)\nmodel.start()\nplanner = TrafficManager(model)\nwhile not model.tpEnd:\nmodel.moveStep()\nif model.timeStep % 5 == 0:\nroadgraph, vehicles = model.exportSce()\nif model.tpStart and roadgraph:\ntrajectories = planner.plan(\nmodel.timeStep * 0.1, roadgraph, vehicles)\nmodel.setTrajectories(trajectories)\nelse:\nmodel.ego.exitControlMode() # (2)\nmodel.updateVeh()\nmodel.destroy()\n</code></pre> <ol> <li> <p>  On Windows systems, make sure that all model-related code is within the <code>if __name__ == '__main__':</code> scope; otherwise, the program may crash. The main reason for this is that SUMO uses Python's multiprocessing module, and the methods for creating processes differ between Windows and Linux. For more details, please refer to the contexts-and-start-methods in the Python documentation.</p> </li> <li> <p>If you are no longer controlling the Ego, remember to hand control back to SUMO.</p> </li> </ol> <p>The program's 8th line initializes the model with several main parameters, including <code>egoID</code>, which specifies the ID of the Ego car. In this case, we use SUMO for traffic flow management, and the path information for all vehicles in the network is defined in <code>Town05.rou.xml</code>. Therefore, you can check this file to select a specific car as the Ego car, or you can follow Customizing Vehicles and Routes to generate vehicles with specific paths for simulation and algorithm testing. The <code>netFile</code> and <code>rouFile</code> represent the network and route files used for simulation, and their generation and definition can be found in the SUMO documentation. <code>dataBase</code> is a string specifying the database for recording simulation data.</p> <p>The 15th line initializes the trajectory planning algorithm, which includes trajectory prediction, decision-making, planning, and other modules. Here, the basic version of LimSim (default parameters) is used to control the vehicles in the AoI. You can replace any part of it with your own algorithm. For details on customizing algorithms.</p> <p>The main part of the program runs starting from line 17. <code>model.tpEnd</code> is a boolean variable that indicates whether the Ego has reached the destination, i.e., whether the program has ended. <code>model.moveStep()</code> and <code>model.updateVeh()</code> are used for the simulation update process. The former is used to get information about all traffic participants, and the latter is used to update (control) information about all traffic participants. Thus, between the two functions, the trajectory planning algorithm can control the vehicles in the AoI.</p> <p>Since trajectory planning algorithms are typically time-consuming and can provide trajectories for multiple frames in a single planning step, we perform trajectory planning every 5 frames, i.e., <code>if model.timeStep % 5 == 0:</code>. Then, <code>roadgraph, vehicles = model.exportSce()</code> provides information about the current scene around the Ego. <code>roadgraph</code> contains the road network information around the Ego, and <code>vehicles</code> contains information about the surrounding vehicles. The trajectories returned by the trajectory planning algorithm are then passed back to the simulation through <code>model.setTrajectories()</code>.</p> <p>After running the simulation above, all the data during the simulation will be stored in <code>egoTrackingTest.db</code>, which can be used for replay and analysis. For more information about the database, please refer to Database.</p>"},{"location":"GettingStarted/replayAndIreplay/","title":"Replay & Interactive Replay","text":"<p>Replay is an important feature of simulation programs that can help us deeply analyze hazardous and failure scenarios, enabling us to optimize relevant algorithms. LimSim also provides a replay feature, allowing us to replay data generated from real-time simulations. Building upon this, we offer interactive replay functionality to aid algorithm updates and iterations in critical scenarios.</p>"},{"location":"GettingStarted/replayAndIreplay/#simulation-replay","title":"Simulation Replay","text":"<p>In the root directory, running the following command will invoke LimSim's replay feature:</p> <pre><code>python ReplayExample.py\n</code></pre>"},{"location":"GettingStarted/replayAndIreplay/#interface-layout","title":"Interface Layout","text":"<p>The above command will bring up the interface for replay functionality, as shown in the following image:</p> <p></p> <p>As you can see, compared to real-time simulation, the replay interface has an additional control panel. This panel allows controlling the start, pause, and speed of the replay, facilitating a detailed view of critical simulation aspects. Additionally, in Area B, you can see a pink curve in front of the vehicle. This curve represents the future trajectory of the vehicle recorded in the database, and the vehicle will travel precisely along this pink curve. We refer to it as <code>dbTrajectory</code>. On the other hand, the trajectory provided by the trajectory planning algorithm is represented by the purple curve, known as <code>plannedTrajectory</code>. In Area C, when displaying the vehicle's state at time 0, on the right side, it shows the vehicle's speed and acceleration as recorded in the database.</p>"},{"location":"GettingStarted/replayAndIreplay/#example-analysis","title":"Example Analysis","text":"<p>The example code for simulation replay is straightforward, as shown below:</p> <pre><code>rmodel = ReplayModel(dataBase='egoTrackingTest.db')\nwhile not rmodel.tpEnd:\nrmodel.moveStep() # (1)\nrmodel.gui.destroy()\n</code></pre> <ol> <li> Since there is no need to exchange data with SUMO, only running <code>rmodel.moveStep()</code> is sufficient.</li> </ol>"},{"location":"GettingStarted/replayAndIreplay/#interactive-replay","title":"Interactive replay","text":"<p>The initialization of simulation replay only requires specifying the database, and no interaction with external elements is necessary. Therefore, the code in this example is relatively simple.</p> <p>During the process of autonomous driving test simulation, some dangerous and failure scenarios may occur. These scenarios are important sources of data for upgrading autonomous driving tests. Therefore, retesting on dangerous scenarios is an important function. However, if only Ego is re-controlled and the surrounding vehicles do not respond to Ego's behavior, the test loses its original meaning. Therefore, LimSim provides an interactive replay function that allows users to iterate algorithms in dangerous scenarios.</p> <p></p> <p>Interactive simulation requires planning new trajectories for vehicles in the scene, which also requires handling conflicts between new and old trajectories. As shown in the figure above, there is no conflict when the two cars drive according to the original trajectory, but when ego changes its trajectory, it may collide with other vehicles. At this time, other vehicles need to respond to avoid collisions, that is, to drive along the purple trajectory shown in the figure. However, when ego is far away from this scene, the vehicle that was just controlled faces a problem-whether to return to the original trajectory. If it returns to the original trajectory, it will cause a sudden change in position and may cause new conflicts. If it does not return to the original trajectory, the subsequent trajectory of the vehicle will be gone and can only stop in place or disappear.</p> <p>LimSim solves the above problems by dividing them into three sub-problems: 1. When to plan a new trajectory for a vehicle; 2. How long should the planned trajectory last; 3. How to deal with this vehicle after the trajectory planning is over.</p> <p>Firstly, planning a new trajectory for a vehicle is not as early as possible. If a new trajectory is planned for a vehicle as soon as it is generated, then the degree of data utilization is too low and only the position where the vehicle is generated is used. Therefore, LimSim uses collision detection to determine whether a new trajectory needs to be planned for a vehicle. If the original trajectory of a vehicle conflicts with the new trajectory of another vehicle (the vehicle must be within AoI first), then a new trajectory needs to be replanned for the vehicle, otherwise it will maintain its original trajectory.</p> <p>Secondly, after a vehicle loses control, it either jumps back to its original trajectory or stops in place or disappears. These two forms obviously greatly reduce the coherence and effectiveness of simulation. Therefore, LimSim will judge whether the out-of-control vehicle is still within AoI. If the vehicle is still within AoI, even if there is no longer a conflict, LimSim will continue to plan its trajectory until it leaves AoI. This is mainly to ensure that the scene within AoI is coherent, while vehicles outside AoI have little impact on ego.</p> <p>Thirdly, when a vehicle no longer needs interaction and leaves AoI, the control stage ends. At this time, if you let the vehicle return to its original trajectory, it may collide with other vehicles. Therefore LimSim chooses to directly destroy this car. If there is still remaining trajectory of this car in the dataset, it will regenerate this car at the corresponding time. It should be noted that when LimSim generates a vehicle, it will judge whether this car will conflict with existing cars in the road network. If there is no conflict, generate a car; otherwise delay until next time.</p> <p>Collision Detection</p> <p>General collision detection algorithms use separation axis theorem to determine whether two rectangles intersect. This method can determine whether two cars collide at a certain moment. But in simulation we need to leave enough reaction time for vehicles. For example when car A generates there is a car B driving 3 meters ahead even if these two cars do not collide at this moment there is still a high probability of conflict between them in future seconds. Therefore LimSim will use future trajectories (<code>dbTrajectory</code> or <code>plannedTrajectory</code>) of vehicles for collision detection to avoid potential conflicts.</p>"},{"location":"GettingStarted/replayAndIreplay/#simulation-example","title":"Simulation example","text":"<p>After introducing implementation methods run following command can run interactive simulation example:</p> <pre><code>python InterReplayExample.py\n</code></pre> <p>If above command runs normally same graphic interface will be called out as well. The overall structure of graphic interface consistent with real-time simulation only slightly different in B area. As shown below curve in front of car has pink and purple two kinds corresponding respectively <code>dbTrajectory</code> and <code>plannedTrajectory</code> mentioned earlier. If car drives according to database\u2019s trajectory <code>dbTrajectory</code> displays if controlled by decision planning algorithm <code>plannedTrajectory</code> displays.</p> <p></p> <p>Example code as follows:</p> <pre><code>from trafficManager.traffic_manager import TrafficManager\nfrom simModel.egoTracking import interReplay\nirmodel = interReplay.InterReplayModel(\ndataBase='egoTrackingTest.db', \nstartFrame=4000\n)\nplanner = TrafficManager(irmodel)\nwhile not irmodel.tpEnd:\nirmodel.moveStep()\nif irmodel.timeStep % 5 == 0:\nroadgraph, vehicles = irmodel.exportSce()\nif roadgraph:\ntrajectories = planner.plan(\nirmodel.timeStep * 0.1, \nroadgraph, vehicles\n)\nelse:\ntrajectories = {} # (1)\nirmodel.setTrajectories(trajectories)\nelse:\nirmodel.setTrajectories({})\nirmodel.gui.destroy()\n</code></pre> <ol> <li>  When running interactive replay, <code>irmodel.setTrajectories()</code> function is necessary even if no trajectory planned empty dictionary needs to be passed in.</li> </ol> <p>Example code overall not much different from real-time simulation replace road network file and path file with corresponding database.</p>"},{"location":"zh/AnalysisAndEvaluation/Database/","title":"Database","text":"<p>LimSim \u4f1a\u5728\u4eff\u771f\u65f6\u5c06\u6240\u6709\u6570\u636e\u5b58\u50a8\u5728\u6570\u636e\u5e93\u4e2d\uff0c\u65b9\u4fbf\u5bf9\u4eff\u771f\u8fdb\u884c\u5206\u6790\u4e0e\u8bc4\u4ef7\u3002LimSim \u4f7f\u7528\u8f7b\u91cf\u7ea7\u5f00\u6e90\u6570\u636e\u5e93 SQLite \u8fdb\u884c\u6570\u636e\u5b58\u50a8\uff0c\u65b9\u4fbf\u6570\u636e\u7684\u67e5\u770b\u4e0e\u8fc1\u79fb\u3002LimSim \u5bf9\u4eff\u771f\u6570\u636e\u7684\u5b58\u50a8\u4e3b\u8981\u5206\u4e09\u4e2a\u90e8\u5206\uff1a\u8def\u7f51\u6570\u636e\u3001\u8f66\u8f86\u6570\u636e\u548c\u4eff\u771f\u6570\u636e\uff0c\u4e0b\u9762\u5206\u522b\u5bf9\u8fd9\u4e09\u4e2a\u90e8\u5206\u8fdb\u884c\u4ecb\u7ecd\u3002</p>"},{"location":"zh/AnalysisAndEvaluation/Database/#_1","title":"\u8def\u7f51\u6570\u636e","text":"<p>LimSim \u4ee5 SUMO \u7684\u8def\u7f51\u4e3a\u57fa\u7840\uff0c\u5bf9\u591a\u7c7b\u578b\u7684\u8def\u7f51\u7ed3\u6784\u8fdb\u884c\u5efa\u6a21\u3002\u901a\u8fc7\u4ee5\u4e0b\u51e0\u4e2a\u8868\u683c\u8bb0\u5f55\u8def\u7f51\u7684\u6570\u636e\uff0c\u5728\u6570\u636e\u56de\u653e\u65f6\uff0c\u4ee5\u4e0b\u9762\u7684\u6570\u636e\u4e3a\u4f9d\u636e\u8fdb\u884c\u8def\u7f51\u7684\u91cd\u5efa\u3002</p>"},{"location":"zh/AnalysisAndEvaluation/Database/#edgeinfo","title":"edgeINFO","text":"\u5b57\u6bb5 \u6570\u636e\u7ed3\u6784 \u63cf\u8ff0 <code>id</code> TEXT PRIMARY KEY edge \u7684 id <code>laneNumber</code> INT edge \u7684\u8f66\u9053\u6570 <code>from_junction</code> TEXT edge \u7684\u8d77\u70b9\u6240\u5728\u7684 junction <code>to_junction</code> TEXT edge \u7684\u7ec8\u70b9\u6240\u5728\u7684 junction"},{"location":"zh/AnalysisAndEvaluation/Database/#laneinfo","title":"laneINFO","text":"\u5b57\u6bb5 \u6570\u636e\u7ed3\u6784 \u63cf\u8ff0 <code>id</code> TEXT PRIMARY KEY lane \u7684 id <code>rawShape</code> TEXT lane \u7684\u4e2d\u5fc3\u7ebf\u51e0\u4f55\u7ed3\u6784 <code>width</code> REAL lane \u7684\u5bbd\u5ea6 <code>maxSpeed</code> REAL lane \u7684\u6700\u5927\u9650\u901f <code>edgeID</code> TEXT lane \u6240\u5c5e\u7684 edge \u7684 id <code>length</code> REAL lane \u7684\u957f\u5ea6 <p>lane \u7684 <code>rawShape</code> \u662f\u4ee5\u5b57\u7b26\u4e32\u7684\u5f62\u5f0f\u5b58\u653e\u5728\u6570\u636e\u5e93\u4e2d\u7684\uff0c\u4ee5 <code></code> \u548c <code>,</code>  \u4f5c\u4e3a\u5206\u9694\u7b26\u3002\u6bd4\u5982\uff0c\u4e0b\u9762\u7684 <code>rawShape</code> \u5c31\u8bb0\u5f55\u4e86\u4e09\u4e2a\u70b9\uff0c\u5206\u522b\u662f <code>(10.2,100.3)</code>\uff0c<code>(14.3,15.4)</code> \u548c <code>(13.4,12.6)</code>\u3002</p> <pre><code>10.2,100.3 14.3,15.4 13.4,12.6\n</code></pre>"},{"location":"zh/AnalysisAndEvaluation/Database/#junctionlaneinfo","title":"junctionLaneINFO","text":"<p>\u5728 SUMO \u7684\u8def\u7f51\u4e2d\uff0c\u6709\u4e24\u79cd\u7c7b\u578b\u7684 lane\uff0c\u4e00\u79cd\u662f\u7531\u7528\u6237\u81ea\u4e3b\u751f\u6210\u7684\uff0c\u5177\u6709\u7279\u5b9a\u540d\u79f0\u7684 lane\u3002\u53e6\u4e00\u79cd\u5219\u662f\u4e3a\u4e86\u8fde\u63a5\u7b2c\u4e00\u79cd lane\uff0c\u800c\u7531 SUMO \u81ea\u52a8\u751f\u6210\u7684 lane\uff0c\u8fd9\u7c7b lane \u7684\u7279\u70b9\u662f\u540d\u79f0\u7684\u7b2c\u4e00\u4e2a\u5b57\u7b26\u90fd\u662f <code>:</code>\uff0c\u4e14\u90fd\u5177\u6709 <code>internal</code> \u7684\u5c5e\u6027\u3002\u8fd9\u91cc\u4e3a\u4e86\u65b9\u4fbf\u533a\u5206\uff0c\u6211\u4eec\u5c06\u7b2c\u4e8c\u79cd lane \u5b9a\u4e49\u4e3a junctionLane\u3002junctionLane \u603b\u662f\u8fde\u63a5\u4e24\u6761 lane\uff0c\u90e8\u5206 junctionLane \u8fd8\u5177\u6709\u4fe1\u53f7\u706f\u7684\u5c5e\u6027\u3002</p> \u5b57\u6bb5 \u6570\u636e\u7ed3\u6784 \u63cf\u8ff0 <code>id</code> TEXT PRIMARY KEY junctionLane \u7684 id <code>width</code> REAL junctionLane \u7684\u5bbd\u5ea6 <code>maxSpeed</code> REAL junctionLane \u7684\u6700\u5927\u9650\u901f <code>length</code> REAL junctionLane \u7684\u957f\u5ea6 <code>tlLogicID</code> TEXT junctionLane \u6240\u5c5e\u7684\u4fe1\u53f7\u63a7\u5236\u903b\u8f91 ID <code>tlIndex</code> INT junctionLane \u5728\u6240\u5c5e\u4fe1\u53f7\u63a7\u5236\u903b\u8f91\u4e2d\u7684\u5e8f\u53f7"},{"location":"zh/AnalysisAndEvaluation/Database/#connectioninfo","title":"connectionINFO","text":"<p>\u524d\u6587\u63d0\u5230\uff0c\u4e24\u6761 lane \u662f\u7531\u4e00\u6761 junctionLane \u8fde\u63a5\u7684\uff0cconnection \u5219\u662f\u8bb0\u5f55\u8fd9\u79cd\u8fde\u63a5\u5173\u7cfb\u7684\u3002</p> \u5b57\u6bb5 \u6570\u636e\u7ed3\u6784 \u63cf\u8ff0 <code>fromLane</code> TEXT \u8d77\u70b9 lane \u7684 id <code>toLane</code> TEXT \u7ec8\u70b9 lane \u7684 id <code>direction</code> TEXT \u65b9\u5411\uff0c\u5177\u4f53\u53c2\u8003 XXXX <code>via</code> TEXT \u8fde\u63a5\u4e24\u6761 lane \u7684 junctionLane \u7684 id"},{"location":"zh/AnalysisAndEvaluation/Database/#junctioninfo","title":"junctionINFO","text":"\u5b57\u6bb5 \u6570\u636e\u7ed3\u6784 \u63cf\u8ff0 <code>id</code> TEXT PRIMARY KEY junction \u7684 id <code>rawShape</code> TEXT junction \u7684\u51e0\u4f55\u7ed3\u6784 <p>\u4e0e lane \u7684 <code>rawShape</code> \u4e00\u6837\uff0cjunction \u7684 <code>rawShape</code> \u4e5f\u662f\u4ee5\u5b57\u7b26\u4e32\u7684\u5f62\u5f0f\u8bb0\u5f55\u7684\uff0c\u540c\u6837\u4ee5 <code></code> \u548c <code>,</code> \u4f5c\u4e3a\u5206\u9694\u7b26\u3002\u4f46\u662f junction \u7684 <code>rawShape</code> \u8bb0\u5f55\u7684\u662f junction \u7684\u5916\u90e8\u8f6e\u5ed3\u3002</p>"},{"location":"zh/AnalysisAndEvaluation/Database/#tllogicinfo","title":"tlLogicINFO","text":"\u5b57\u6bb5 \u6570\u636e\u7ed3\u6784 \u63cf\u8ff0 <code>id</code> TEXT PRIMARY KEY \u4fe1\u53f7\u63a7\u5236\u903b\u8f91\u7684 id\uff0c\u4e5f\u662f\u5bf9\u5e94 junction \u7684 id <code>tlType</code> TEXT \u4fe1\u53f7\u63a7\u5236\u903b\u8f91\u7684\u7c7b\u578b\uff0c\u5206\u4e3a <code>static</code>, <code>actuated</code>\u548c<code>delay_based</code> <code>preDefPhases</code> TEXT \u4fe1\u53f7\u63a7\u5236\u903b\u8f91\u7684\u76f8\u4f4d\u548c\u76f8\u5e8f\uff0c\u5177\u4f53\u53c2\u8003 XXX"},{"location":"zh/AnalysisAndEvaluation/Database/#trafficlightstates","title":"trafficLightStates","text":"\u5b57\u6bb5 \u6570\u636e\u7ed3\u6784 \u63cf\u8ff0 <code>frame</code> INT \u5f53\u524d\u7684\u4eff\u771f\u65f6\u523b <code>id</code> TEXT \u4fe1\u53f7\u63a7\u5236\u903b\u8f91\u7684 id <code>currPhase</code> TEXT \u5f53\u524d\u7684\u76f8\u4f4d <code>nextPhase</code> TEXT \u4e0b\u4e00\u4e2a\u76f8\u4f4d <code>switchTime</code> REAL \u5f53\u524d\u76f8\u4f4d\u5269\u4f59\u7684\u6301\u7eed\u65f6\u95f4"},{"location":"zh/AnalysisAndEvaluation/Database/#_2","title":"\u8f66\u8f86\u4fe1\u606f","text":"<p>\u8f66\u8f86\u7684\u4fe1\u606f\u5206\u4e3a\u4e24\u79cd\uff0c\u4e00\u79cd\u662f\u8f66\u8f86\u7684\u56fa\u6709\u5c5e\u6027\uff0c\u53e6\u4e00\u79cd\u662f\u4eff\u771f\u8fc7\u7a0b\u4e2d\u7684\u5b9e\u65f6\u72b6\u6001\u3002</p>"},{"location":"zh/AnalysisAndEvaluation/Database/#vehicleinfo","title":"vehicleINFO","text":"\u5b57\u6bb5 \u6570\u636e\u7ed3\u6784 \u63cf\u8ff0 <code>vid</code> INT \u8f66\u8f86\u7684 id <code>length</code> REAL \u8f66\u8f86\u7684\u957f\u5ea6 <code>width</code> REAL \u8f66\u8f86\u7684\u5bbd\u5ea6 <code>maxAccel</code> REAL \u8f66\u8f86\u7684\u6700\u5927\u52a0\u901f\u5ea6 <code>maxDecel</code> REAL \u8f66\u8f86\u7684\u6700\u5927\u51cf\u901f\u5ea6 <code>maxSpeed</code> REAL \u8f66\u8f86\u7684\u6700\u5927\u901f\u5ea6 <code>vTypeID</code> TEXT \u8f66\u578b\u7684 id <code>routes</code> TEXT \u8f66\u8f86\u7684 route \u4fe1\u606f"},{"location":"zh/AnalysisAndEvaluation/Database/#frameinfo","title":"frameINFO","text":"\u5b57\u6bb5 \u6570\u636e\u7ed3\u6784 \u63cf\u8ff0 <code>frame</code> INT \u5f53\u524d\u7684\u4eff\u771f\u65f6\u523b <code>vid</code> INT \u8f66\u8f86\u7684 id <code>vtag</code> TEXT \u8f66\u8f86\u7684\u89d2\u8272\uff0c\u53ef\u4ee5\u53d6 <code>ego</code>, <code>AoI</code> \u548c <code>outOfAoI</code> <code>x</code> REAL \u8f66\u8f86\u6b64\u523b\u7684 x \u4f4d\u7f6e <code>y</code> REAL \u8f66\u8f86\u6b64\u523b\u7684 y \u4f4d\u7f6e <code>yaw</code> REAL \u8f66\u8f86\u6b64\u523b\u7684 yaw \u89d2\uff0c\u4ee5 x \u8f74\u6b63\u65b9\u5411\u4e3a\u8d77\u70b9\uff0c\u9006\u65f6\u9488\u4e3a\u6b63\u65b9\u5411 <code>speed</code> REAL \u8f66\u8f86\u6b64\u523b\u7684\u901f\u5ea6 <code>accel</code> REAL \u8f66\u8f86\u6b64\u523b\u7684\u52a0\u901f\u5ea6 <code>laneID</code> TEXT \u8f66\u8f86\u6b64\u523b\u6240\u5728 lane \u7684 ID <code>lanePos</code> REAL \u8f66\u8f86\u6b64\u523b\u5728 lane \u4e0a\u7684\u8ddd\u79bb lane \u8d77\u70b9\u7684\u8ddd\u79bb <code>routeIdx</code> INT \u8f66\u8f86\u5f53\u524d\u5904\u4e8e route \u7684\u7b2c\u51e0\u6bb5\u4e0a"},{"location":"zh/AnalysisAndEvaluation/Database/#_3","title":"\u4eff\u771f\u4fe1\u606f","text":"<p>\u4eff\u771f\u4fe1\u606f\u4e3b\u8981\u5305\u62ec\u4eff\u771f\u7684\u57fa\u672c\u4fe1\u606f\u548c\u8bc4\u4ef7\u7684\u4fe1\u606f</p>"},{"location":"zh/AnalysisAndEvaluation/Database/#siminfo","title":"simINFO","text":"\u5b57\u6bb5 \u6570\u636e\u7ed3\u6784 \u63cf\u8ff0 <code>startTime</code> TIMESTAMP \u4eff\u771f\u542f\u52a8\u65f6\u7684\u65f6\u95f4\u6233 <code>localPosx</code> REAL <code>local area</code> \u6a21\u5f0f\u4e0b\uff0c\u56fa\u5b9a\u89c6\u89d2\u7684 x \u4f4d\u7f6e <code>localPosy</code> REAL <code>local area</code> \u6a21\u5f0f\u4e0b\uff0c\u56fa\u5b9a\u89c6\u89d2\u7684 y \u4f4d\u7f6e <code>radius</code> REAL <code>local area</code> \u6a21\u5f0f\u4e0b\uff0c\u533a\u57df\u7684\u534a\u5f84 <code>egoID</code> TEXT <code>ego track</code> \u6a21\u5f0f\u4e0b\uff0cego \u7684 id <code>netBoundary</code> TEXT \u4eff\u771f\u8def\u7f51\u7684\u8303\u56f4\uff0c\u5373\u5de6\u4e0b\u89d2\u548c\u53f3\u4e0a\u89d2\u7684\u5750\u6807 <code>description</code> TEXT \u4eff\u771f\u7684\u6a21\u5f0f\uff0c\u6709 <code>ego track</code> \u548c <code>local area</code> \u4e24\u79cd <code>note</code> TEXT \u5907\u6ce8\u4fe1\u606f\uff0c\u53ef\u4ee5\u662f\u7b97\u6cd5\u7684\u7248\u672c\u53f7\u548c\u53c2\u6570\u7b49"},{"location":"zh/AnalysisAndEvaluation/Database/#evaluationinfo","title":"evaluationINFO","text":"\u5b57\u6bb5 \u6570\u636e\u7ed3\u6784 \u63cf\u8ff0 <code>frame</code> INT \u5f53\u524d\u7684\u4eff\u771f\u65f6\u523b <code>offset</code> REAL Ego \u504f\u79bb\u8f66\u9053\u4e2d\u5fc3\u7684\u8ddd\u79bb <code>discomfort</code> REAL Ego \u7684\u52a0\u52a0\u901f\u5ea6\u4fe1\u606f <code>collision</code> REAL Ego \u7684 TTC1 \u7684\u5012\u6570 <code>orientation</code> REAL Ego \u504f\u79bb\u8f66\u9053\u4e2d\u5fc3\u7684\u89d2\u5ea6 <code>consumption</code> REAL Ego \u7684\u6cb9\u8017\u4fe1\u606f <p>\u6570\u503c\u7ecf\u8fc7\u5904\u7406</p> <p>\u4e0a\u8ff0\u6307\u6807\u5747\u7ecf\u8fc7\u5f52\u4e00\u5316\u5904\u7406\uff0c\u5e76\u4e0d\u662f\u771f\u5b9e\u6570\u503c\uff0c\u8be6\u60c5\u8bf7\u53c2\u8003 \u573a\u666f\u8bc4\u4ef7</p> <ol> <li> <p>TTC(Time To Collision)\uff1a\u6307\u4e24\u8f66\u4fdd\u6301\u5f53\u524d\u7684\u901f\u5ea6\u884c\u9a76\uff0c\u591a\u4e45\u540e\u4f1a\u53d1\u751f\u78b0\u649e\u3002\u00a0\u21a9</p> </li> </ol>"},{"location":"zh/AnalysisAndEvaluation/Evaluation/","title":"Evaluation","text":"<p>Evaluation\u6a21\u5757\u7528\u4e8e\u5b9e\u65f6\u8bc4\u4f30\u8f66\u8f86\u6240\u5904\u7684\u573a\u666f\u3002\u5176\u5305\u542b\u4e86\u4e94\u4e2a\u7ef4\u5ea6\u7684\u8bc4\u4ef7\u6307\u6807\uff0c\u8bc4\u4ef7\u7ed3\u679c\u53ef\u4ee5\u7528\u4e8e\u51b3\u7b56\uff0c\u4e5f\u53ef\u4ee5\u7528\u4e8e\u573a\u666f\u63d0\u53d6\uff0c\u4e3a\u540e\u7eed\u7684\u6d4b\u8bd5\u63d0\u4f9b\u6570\u636e\u3002</p> <p>\u4e0b\u9762\u6211\u4eec\u5206\u522b\u4ecb\u7ecd\u8fd9\u4e94\u4e2a\u7ef4\u5ea6</p>"},{"location":"zh/AnalysisAndEvaluation/Evaluation/#consumption","title":"Consumption","text":"<p>\u6211\u4eec\u5e94\u7528\u5982\u4e0b\u516c\u5f0f\u6765\u8ba1\u7b97\u8f66\u8f86\u7684\u80fd\u91cf\u6d88\u8017\u60c5\u51b5\uff1a</p> \\[ P = (v*a)^2 + v^3 \\] <p>\u8fd9\u91cc \\(v\\) \u548c \\(a\\) \u5206\u522b\u662f\u8f66\u8f86\u7684\u901f\u5ea6\u548c\u52a0\u901f\u5ea6\u3002</p> <p>\u81ea\u7531\u9a7e\u9a76\uff08\u5de1\u822a\uff09\u60c5\u51b5\u4e0b\uff0c\u8f66\u8f86\u901f\u5ea6\u8f83\u5927\uff0c\u52a0\u901f\u5ea6\u8f83\u5c0f\uff0c\u6574\u4f53\u80fd\u8017\u8f83\u9ad8\uff0c\u901f\u5ea6\u5360\u4e3b\u5bfc\u9879\uff1b \u5f53\u524d\u65b9\u6709\u7d27\u6025\u60c5\u51b5\u9700\u8981\u5239\u8f66\u65f6\uff0c\u901f\u5ea6\u6025\u5267\u53d8\u5c0f\uff0c\u52a0\u901f\u5ea6\u6bd4\u8f83\u5927\uff0c\u6574\u4f53\u80fd\u8017\u6d88\u8017\u8f83\u4f4e\u4f46\u662f\u51fa\u73b0\u4e0d\u8fde\u7eed\u53d8\u5316\u3002</p>"},{"location":"zh/AnalysisAndEvaluation/Evaluation/#collision","title":"Collision","text":"<p>\u6211\u4eec\u4f7f\u7528\u4e8c\u7ef4TTC(Time-to-Collision)\u6765\u8ba1\u7b97\u53ef\u80fd\u7684\u78b0\u649e\uff0c \u4e8c\u7ef4TTC\u5b9a\u4e49\u4e3a\uff1a\u5047\u8bbe\u4e24\u8f66\u4ee5\u5f53\u524d\u7684\u901f\u5ea6\u7684\u548c\u65b9\u5411\u7ee7\u7eed\u884c\u9a76\uff0c\u4e24\u8f66\u78b0\u649e\u6240\u9700\u8981\u7684\u65f6\u95f4\u3002 TTC\u663e\u793a\u4e86\u6f5c\u5728\u7684\u78b0\u649e\u5371\u9669\uff0c\u5176\u53ef\u4ee5\u7528\u6765\u8bc4\u4f30\u8f68\u8ff9\u89c4\u5212\u7b97\u6cd5\u7684\u5b89\u5168\u6027\u3002</p> <p>\u8fd9\u91cc\u6211\u4eec\u53c2\u8003\u4e86nuplan\u7684\u5b9e\u73b0\u5e76\u6839\u636e\u6570\u636e\u683c\u5f0f\u8fdb\u884c\u4e86\u7b80\u5316\u3002</p>"},{"location":"zh/AnalysisAndEvaluation/Evaluation/#orientation","title":"Orientation","text":"<p>\u6211\u4eec\u7528\u8f66\u8f86\u504f\u79bb\u8f66\u9053\u4e2d\u5fc3\u7ebf\u7684\u65b9\u5411\uff08\u901f\u5ea6\u65b9\u5411\u4e0e\u8f66\u9053\u4e2d\u5fc3\u7ebf\u7684\u5939\u89d2\uff09\u4f5c\u4e3aorientation\u3002</p> \\[ (\\sin(\\theta_{ego}) - \\sin(\\theta_{ref}))^2 \\] <p>\u5176\u4e2d\uff0c\\(\\theta_{ego}\\) \u548c \\(\\theta_{ref}\\) \u5206\u522b\u662f\u81ea\u8f66\u548c\u81ea\u8f66\u5728\u53c2\u8003\u7ebf\u4e0a\u6295\u5f71\u70b9\u7684\u89d2\u5ea6\uff08\u4e16\u754c\u5750\u6807\u7cfb\uff09\uff0c\u8fd9\u91cc\u6709\u4e09\u70b9\u9700\u8981\u6ce8\u610f\uff1a 1. \u4e3a\u4e86\u5c55\u793a\u65b9\u4fbf\uff0c\u6211\u4eec\u4f7f\u7528 \\(\\sin\\) \u8fdb\u884c\u5f52\u4e00\u5316 2. \u5728\u8def\u53e3\u5185\u8003\u8651\u504f\u5411\u89d2\u610f\u4e49\u4e0d\u5927\uff0c\u56e0\u6b64\u8fd9\u91cc\u7684 \\(\\theta_{ref}\\) \u5b9e\u9645\u4e0a\u6307\u7684\u662f\u201c\u5386\u53f2\u8f68\u8ff9\u4e2d\uff0c\u6700\u8fd1\u7684\uff0c\u5728<code>NormalLane</code>\u4e0a\u5bf9\u5e94\u7684\u70b9\u201d 3. \u540c\u6837\u662f\u4e3a\u4e86\u5c55\u793a\u65b9\u4fbf\uff0c\u6211\u4eec\u589e\u52a0\u4e86<code>delay</code>\u9879\uff0c\u4f7f\u5f97\u8f6c\u5f2f\u663e\u793a\u5730\u66f4\u52a0\u987a\u6ed1\u3002</p> <p>orientation\u53ef\u4ee5\u4f53\u73b0\u51fa\u8f66\u8f86\u7684\u8f6c\u5f2f\u884c\u4e3a\uff0c\u7279\u522b\u662f\u9700\u8981\u65e0\u4fdd\u62a4\u5de6\u8f6c\u573a\u666f\u65f6\uff0c\u53ef\u4ee5\u5229\u7528Orientation\u7684\u7ed3\u679c\u7b5b\u9009\u51fa\u4e00\u4e9b\u573a\u666f\u6765\u8fdb\u884c\u6d4b\u8bd5\u3002</p>"},{"location":"zh/AnalysisAndEvaluation/Evaluation/#discomfort","title":"Discomfort","text":"<p>\u6211\u4eec\u7528jerk \u7684\u5e73\u65b9\u6765\u8868\u793adiscomfort\uff0c </p> \\[ \\left(\\frac{da}{dt}\\right)^2 \\] <p>\u8fd9\u91cc \\(a\\) \u662f\u52a0\u901f\u5ea6\u3002 jerk\u53ef\u4ee5\u8868\u73b0\u51fa\u8f66\u8f86\u5728\u8fd0\u52a8\u65f6\u51fa\u73b0\u7684\u6025\u5239\u4ee5\u53ca\u7a81\u7136\u542f\u52a8\u5bf9\u4e58\u5ba2\u7684\u5f71\u54cd\u3002</p>"},{"location":"zh/AnalysisAndEvaluation/Evaluation/#offset","title":"Offset","text":"<p>\u6211\u4eec\u4ee5\u8f66\u8f86\u504f\u79bb\u8f66\u9053\u4e2d\u5fc3\u7ebf\uff08\u5728junction\u91cc\u9762\uff0c\u6211\u4eec\u4e0d\u4f1a\u8ba1\u7b97\u6b64\u9879\uff09\u8ddd\u79bb\u7684\u5e73\u65b9\u4f5c\u4e3aoffset\u3002</p> \\[ d^2 \\] <p>\u8fd9\u91cc \\(d\\) \u662f\u8f66\u8f86\u5728Frenet\u5750\u6807\u7cfb\u4e0b\u7684\u6a2a\u5750\u6807(lateral coordinate).</p> <p>offset\u53ef\u4ee5\u7528\u4ee5\u68c0\u6d4b\u8f66\u8f86\u53d8\u9053\u7684\u884c\u4e3a\u3002\u7531\u4e8eLimSim \u63d0\u4f9b\u7684\u9ed8\u8ba4\u89c4\u5212\u5668\u662f\u5efa\u7acb\u5728frenet\u5750\u6807\u7cfb\u4e0b\u7684\uff0c\u56e0\u6b64\u8fd9\u4e00\u9879\u53ef\u4ee5\u5f88\u65b9\u4fbf\u5730\u8ba1\u7b97\u51fa\u6765\u3002</p>"},{"location":"zh/AnalysisAndEvaluation/Evaluation/#visualization","title":"Visualization","text":"<p>\u6211\u4eec\u4f7f\u7528\u4e94\u661f\u56fe\u6765\u53ef\u89c6\u5316\u4e0a\u9762\u4e94\u4e2a\u7ef4\u5ea6\u7684\u7ed3\u679c\uff0c\u4e3a\u4e86\u4f7f\u7ed3\u679c\u8868\u73b0\u51fa\u4e00\u81f4\u6027\uff0c\u6211\u4eec\u5bf9\u7ed3\u679c\u8fdb\u884c\u4e86\u9002\u5f53\u7684\u53d8\u6362\u3002</p>"},{"location":"zh/AnalysisAndEvaluation/Evaluation/#data-retrieval","title":"Data Retrieval","text":"<p>\u6211\u4eec\u5c06\u5b9e\u65f6\u8bc4\u4f30\u7684\u7ed3\u679c\u5b58\u50a8\u5728\u6570\u636e\u5e93\u4e2d\uff0c\u7528\u4ee5\u8fdb\u884c\u573a\u666f\u63d0\u53d6\u548c\u5206\u6790\u3002\u6211\u4eec\u53ef\u4ee5\u4f7f\u7528\u5982\u4e0b\u4ee3\u7801\u5c06\u8bc4\u4f30\u7ed3\u679c\u8f6c\u5316\u4e3a<code>DataFrame</code>: <pre><code>from utils.load_data import load_data_from_database\nevaluation_df = load_data_from_data_base(path_to_data_base, 'evaluation')\n</code></pre></p>"},{"location":"zh/DecisionAndPlanning/Overview/","title":"Overview","text":"<p>LimSim\u4e2d\u4f7f\u7528<code>TrafficManager</code>\u7c7b\u6765\u7edf\u4e00\u7ba1\u7406\uff0c\u8fd9\u4e2a\u7c7b\u4e3b\u8981\u8d1f\u8d23\u5bf9\u4e8eAOI\u8303\u56f4\u5185\u7684\u8f66\u8f86\u8fdb\u884c\u201c\u9884\u6d4b-\u51b3\u7b56-\u89c4\u5212\u201d\uff08PDP\uff09\u6d41\u7a0b\uff0c\u6700\u7ec8\u4e3a\u6bcf\u8f86\u8f66\u751f\u6210\u4e00\u6761\u5408\u7406\u3001\u5b89\u5168\u3001\u7b26\u5408\u8fd0\u52a8\u5b66\u7ea6\u675f\u7684\u8f68\u8ff9\u3002</p> <p>\u5728\u4f7f\u7528\u65f6\uff0c\u6211\u4eec\u9700\u8981\u9996\u5148\u521d\u59cb\u5316<code>TrafficManager</code>\u7c7b\uff0c\u521d\u59cb\u5316\u9700\u8981\u7684\u53c2\u6570\u5982\u4e0b\uff1a</p> \u53c2\u6570\u540d \u5fc5\u987b/\u53ef\u9009 \u63cf\u8ff0 <code>model</code> \u5fc5\u987b \u4f20\u5165\u7684\u5305\u542bSumo\u4eff\u771f\u7684\u4eff\u771f\u6a21\u578b\uff0c\u5e94\u5f53\u4e3a<code>Model</code>\u7c7b\u6216\u8005<code>ReplayModel</code>\u7c7b <code>predictor</code> \u53ef\u9009 \u8f66\u8f86\u7684\u9884\u6d4b\u5668\uff0c\u5e94\u5f53\u662f\u4e00\u4e2a<code>AbstractPredictor</code>\u00a0\u7684\u5b50\u7c7b\u3002 <code>ego_decision</code> \u53ef\u9009 \u81ea\u8f66\u7684\u51b3\u7b56\u5668\uff0c\u5e94\u5f53\u662f\u4e00\u4e2a<code>AbstractEgoDecisionMaker</code>\u00a0\u7684\u5b50\u7c7b\u3002 <code>ego_planner</code> \u53ef\u9009 \u81ea\u8f66\u7684\u89c4\u5212\u5668\uff0c\u5e94\u5f53\u662f\u4e00\u4e2a<code>AbstractEgoPlanner</code>\u00a0\u7684\u5b50\u7c7b\u3002 <code>multi_decision</code> \u53ef\u9009 \u9002\u7528\u4e8e\u591a\u8f66\u7684\u8054\u5408\u51b3\u7b56\u5668\uff0c\u5e94\u5f53\u662f\u4e00\u4e2a<code>AbstractMultiDecisionMaker</code>\u00a0\u7684\u5b50\u7c7b\u3002 <code>multi_veh_planner</code> \u53ef\u9009 \u9002\u7528\u4e8e\u591a\u8f66\u7684\u8054\u5408\u89c4\u5212\u5668\uff0c\u5e94\u5f53\u662f\u4e00\u4e2a<code>AbstractMultiPlanner</code>\u00a0\u7684\u5b50\u7c7b\u3002 <code>config_file_path</code> \u53ef\u9009 \u914d\u7f6e\u6587\u4ef6\u8def\u5f84\u3002\u5176\u8d1f\u8d23\u5b58\u50a8PDP\u6d41\u7a0b\u4e2d\u7684\u4e00\u4e9b\u91cd\u8981\u53ef\u4fee\u6539\u53c2\u6570\u3002 <p>LimSim\u5df2\u4e8b\u5148\u5b9e\u73b0\u4e86PDP\u5168\u6d41\u7a0b\u7684\u65b9\u6cd5\uff0c\u8fd9\u610f\u5473\u7740\u7528\u6237\u4e0d\u9700\u8981\u586b\u5145\u4efb\u4f55\u7b97\u6cd5\u5373\u53ef\u6b63\u5e38\u8fd0\u884cLimSim\u3002</p> <p>\u540c\u65f6\uff0cLimSim\u4e5f\u652f\u6301\u7528\u6237\u66ff\u6362PDP\u6d41\u7a0b\u4e2d\u7684\u90e8\u5206\u6216\u5168\u90e8\u7b97\u6cd5\uff0c\u53ea\u9700\u7ee7\u627f\u7ed9\u5b9a\u57fa\u7c7b\u5e76\u586b\u5145\u63a5\u53e3\uff0c\u5373\u53ef\u4f7fLimsim\u62e5\u6709\u5168\u65b0\u8868\u73b0\u3002</p>"},{"location":"zh/GettingStarted/carla_cosim/","title":"LimSim, SUMO, CARLA Co-Simulation","text":""},{"location":"zh/GettingStarted/carla_cosim/#limsim-sumo-carla","title":"LimSim, SUMO, CARLA \u534f\u540c\u4eff\u771f","text":"<p>CARLA \u662f\u4e00\u6b3e\u5f00\u6e90\u7684\u81ea\u52a8\u9a7e\u9a76\u4eff\u771f\u5668\uff0c\u5177\u6709\u5305\u62ec\u611f\u77e5\u3001\u5b9a\u4f4d\u7b49\u5728\u5185\u7684\u591a\u4e2a\u529f\u80fd\uff0c\u53ef\u4ee5\u7528\u6765\u5e2e\u52a9\u8bad\u7ec3\u81ea\u52a8\u9a7e\u9a76\u7684\u5404\u4e2a\u6a21\u5757\u3002CARLA \u5b98\u65b9\u63d0\u4f9b\u7684 SUMO co-simulation \u529f\u80fd\u4f7f\u5f97\u7528\u6237\u53ef\u4ee5\u5229\u7528 SUMO \u7ba1\u7406\u4eff\u771f\u7684\u80cc\u666f\u4ea4\u901a\u6d41\uff0c\u4e5f\u4f7f\u5f97 LimSim, SUMO, CARLA \u7684\u534f\u540c\u4eff\u771f\u6210\u4e3a\u53ef\u80fd\u3002</p> <p>\u8fdb\u884c\u534f\u540c\u4eff\u771f\u4e3b\u8981\u5229\u7528 SUMO \u7684\u5e73\u884c\u4eff\u771f(Parallel simulation) \u529f\u80fd\uff0c\u5f00\u542f\u8fd9\u4e2a\u529f\u80fd\u540e\uff0c\u4e3b\u7a0b\u5e8f\u7684\u53ef\u4ee5\u4f5c\u4e3a Server \u4eff\u771f\uff0c\u800c\u5b50\u7a0b\u5e8f\u53ef\u4ee5\u4f5c\u4e3a Client \u63a5\u53d7\u6570\u636e\u3002\u56e0\u6b64\u6211\u4eec\u53ef\u4ee5\u5c06 LimSim \u4f5c\u4e3a\u4e3b\u7a0b\u5e8f\u8fd0\u884c\uff0c\u5c06 CARLA \u7684 co-simulation \u4f5c\u4e3a\u5b50\u7a0b\u5e8f\u8fd0\u884c\u3002</p>"},{"location":"zh/GettingStarted/carla_cosim/#0-carla","title":"\u6b65\u9aa4 0\uff1a\u5b89\u88c5 CARLA","text":"<p>\u26a0\ufe0f \u6240\u6709\u7684\u6307\u4ee4\u90fd\u57fa\u4e8e Linux\uff0cWindows \u652f\u6301\u672a\u7ecf\u6d4b\u8bd5\u548c\u4fdd\u8bc1\u3002</p> <p>\u9996\u5148\uff0c\u60a8\u9700\u8981\u901a\u8fc7\u5305\u5b89\u88c5\u6765\u5b89\u88c5 CARLA\uff0c\u63a8\u8350\u4f7f\u7528\u7248\u672c\u4e3a 0.9.12+ \u7684 Carla\u3002\u8bf7\u53c2\u8003\u4ee5\u4e0b\u94fe\u63a5\uff1a</p> <p>\u5feb\u901f\u5165\u95e8\u5305\u5b89\u88c5 - CARLA \u6a21\u62df\u5668</p> <p>\u7136\u540e\uff0c\u8bf7\u786e\u4fdd\u5df2\u7ecf\u914d\u7f6e\u4e86 CARLA \u548c SUMO \u7684\u8054\u5408\u4eff\u771f\u3002\u8bf7\u53c2\u8003\u4ee5\u4e0b\u94fe\u63a5\uff1a</p> <p>SUMO - CARLA \u6a21\u62df\u5668</p> <p>\u73b0\u5728\uff0c\u60a8\u5e94\u8be5\u5728 <code>LimSim</code> \u6587\u4ef6\u5939\u65c1\u8fb9\u6709\u4e00\u4e2a\u540d\u4e3a <code>Carla</code> \u7684\u6587\u4ef6\u5939\uff0cCarla \u6587\u4ef6\u5939\u7684\u7ed3\u6784\u5e94\u5982\u4e0b\u6240\u793a\uff1a</p> <pre><code>\u251c\u2500\u2500 CarlaUE4\n\u2502   \u251c\u2500\u2500 AssetRegistry.bin\n\u2502   \u251c\u2500\u2500 Binaries\n\u2502   \u251c\u2500\u2500 CarlaUE4.uproject\n\u2502   \u251c\u2500\u2500 Config\n\u2502   \u251c\u2500\u2500 Content\n\u2502   \u2514\u2500\u2500 Plugins\n\u251c\u2500\u2500 CarlaUE4.sh\n\u251c\u2500\u2500 Co-Simulation\n\u2502   \u251c\u2500\u2500 PTV-Vissim\n\u2502   \u2514\u2500\u2500 Sumo\n\u251c\u2500\u2500 PythonAPI\n\u2502   \u251c\u2500\u2500 carla\n\u2502   \u251c\u2500\u2500 examples\n\u2502   \u251c\u2500\u2500 python_api.md\n\u2502   \u2514\u2500\u2500 util\n\u251c\u2500\u2500 README\n\u251c\u2500\u2500 ......\n\u251c\u2500\u2500 ......\n\u2514\u2500\u2500 VERSION\n</code></pre>"},{"location":"zh/GettingStarted/carla_cosim/#1-carla","title":"\u6b65\u9aa4 1\uff1a\u8fd0\u884c CARLA \u8054\u5408\u4eff\u771f","text":"<p>\u60a8\u5e94\u8be5\u6253\u5f00\u4e24\u4e2a\u7ec8\u7aef\u3002</p> <pre><code># \u7ec8\u7aef 1 \ncd path-to-carla/ ./CarlaUE4.sh -world-port=2000 -resx=400 -resy=300 -quality-level=Epic\n</code></pre> <p>\u73b0\u5728\u60a8\u5e94\u8be5\u770b\u5230 CARLA \u56fe\u5f62\u754c\u9762\u3002\u7136\u540e\u5207\u6362\u5230\u53e6\u4e00\u4e2a\u7ec8\u7aef\uff1a</p> <pre><code># \u7ec8\u7aef 2 \ncd path-to-carla/ cd PythonAPI/util/ python3 config.py --map Town05\n</code></pre> <p>\u73b0\u5728 Carla \u4e2d\u7684\u5730\u56fe\u5df2\u6210\u529f\u5207\u6362\u4e3a <code>Town05</code> \u5730\u56fe\u3002</p> <pre><code># \u7ec8\u7aef 2 \ncd ../.. # \u56de\u5230 carla \u6839\u76ee\u5f55 \ncd Co-Simulation/Sumo python3 run_synchronization.py examples/Town05.sumocfg --sumo-host 127.0.0.1 --sumo-port 8813\n</code></pre> <p>\u7ec8\u7aef\u5e94\u6301\u7eed\u8f93\u51fa <code>Could not connect to TraCI server at 127.0.0.1:8813 [Errno 111] Connection refused Retrying in 1 seconds</code>\uff0c\u4e0d\u8981\u62c5\u5fc3\uff0c\u8fd9\u610f\u5473\u7740\u60a8\u7684\u8bbe\u7f6e\u90fd\u5df2\u5b8c\u6210\u3002\u73b0\u5728\u7ee7\u7eed\u4e0b\u4e00\u6b65\uff01</p>"},{"location":"zh/GettingStarted/carla_cosim/#2-limsim","title":"\u6b65\u9aa4 2\uff1a\u8fd0\u884c LimSim \u8054\u5408\u4eff\u771f","text":"<p>\u5728 <code>ModelExample.py</code> \u7684 <code>main</code> \u51fd\u6570\u4e2d\u4fee\u6539\u4ee3\u7801\uff1a</p> <pre><code>if __name__ == \"__main__\":     \nnet_file, rou_file = file_paths['CarlaTown05']     \nrun_model(net_file, rou_file, ego_veh_id=\"4\", carla_cosim=True)\n</code></pre> <p>\u7136\u540e\u6253\u5f00\u7b2c\u4e09\u4e2a\u7ec8\u7aef\uff1a</p> <pre><code># \u7ec8\u7aef 3 \ncd path-to-limsim/ python ./ModelExample.py\n</code></pre> <p>\u7136\u540e\u60a8\u5e94\u8be5\u770b\u5230\u6240\u6709 LimSim/Sumo/CARLA \u56fe\u5f62\u754c\u9762\u5f00\u59cb\u8054\u5408\u4eff\u771f\u3002</p> <p>\u60a8\u53ef\u4ee5\u4f7f\u7528 <code>w</code>\u3001<code>a</code>\u3001<code>s</code>\u3001<code>d</code>\u3001<code>q</code>\u3001<code>e</code> \u6765\u63a7\u5236 CARLA \u4e2d\u7684\u89c6\u89d2\u79fb\u52a8\u3002</p>"},{"location":"zh/GettingStarted/carla_cosim/#3-carla","title":"\u6b65\u9aa4 3\uff1a\uff08\u53ef\u9009\uff09\u5728 CARLA \u4e2d\u66f4\u6539\u9e1f\u77b0\u89c6\u56fe","text":"<p>\u5982\u679c\u60a8\u5e0c\u671b CARLA \u4e2d\u7684\u89c6\u89d2\u8ddf\u968f\u81ea\u8f66\u79fb\u52a8\uff0c\u9700\u8981\u7a0d\u5fae\u4fee\u6539 <code>Co-Simulation/Sumo</code> \u6587\u4ef6\u5939\u4e2d\u7684 <code>run_synchronization.py</code> \u6587\u4ef6\u3002</p> <p>\u53ea\u9700\u4f7f\u7528\u6b64\u6587\u4ef6\u94fe\u63a5 \u66ff\u6362\u60a8\u6587\u4ef6\u5939\u4e2d\u7684\u539f\u59cb <code>run_synchronization.py</code> \u6587\u4ef6\uff0c\u5e76\u786e\u4fdd <code>line 222</code> \u4e2d\u7684 <code>ego_id = '4'</code> \u662f\u81ea\u8f66\u7684 ID\u3002</p> <p>\u5c3d\u60c5\u4eab\u53d7\u5427\uff01</p>"},{"location":"zh/GettingStarted/installDeploy/","title":"Installation & Deployment","text":"<p>LimSim \u662f\u4e00\u6b3e\u9762\u5411\u51b3\u7b56-\u89c4\u5212\u7b97\u6cd5\u6d4b\u8bd5\u7684\u5fae\u89c2\u4eff\u771f\u8f6f\u4ef6\uff0c\u53ef\u4ee5\u8fdb\u884c\u5b8f\u5fae\u89c2\u4e00\u4f53\u7684\u957f\u65f6\u4eff\u771f\u3002</p>"},{"location":"zh/GettingStarted/installDeploy/#_1","title":"\u5b89\u88c5\u90e8\u7f72","text":"<p>LimSim \u4e3b\u8981\u7531 Python \u7f16\u5199\uff0c\u65e0\u9700\u7f16\u8bd1\uff0c\u53ef\u4ee5\u76f4\u63a5\u8fd0\u884c\u6e90\u7801\u3002\u4f46\u662f\u5728\u8fd0\u884c\u524d\u8bf7\u4fdd\u8bc1\u5177\u6709\u4ee5\u4e0b\u5f00\u53d1\u73af\u5883\uff1a</p> <ul> <li>3.9.0 &lt;= Python &lt;= 3.11.0</li> <li>SUMO &gt;= 1.15.0 (\u63a8\u8350\u4f7f\u7528 1.15.0 \u7248\u672c)</li> </ul> <p>\u5728\u8fd0\u884c\u73af\u5883\u914d\u7f6e\u5b8c\u6210\u540e\uff0c\u4e0b\u8f7d LimSim \u6e90\u7801\u5230\u672c\u5730\u5373\u53ef\uff1a</p> <pre><code>git clone https://github.com/PJLab-ADG/LimSim.git\n</code></pre> <p>\u6700\u540e\uff0c\u9700\u8981\u5b89\u88c5\u6240\u9700\u7684 Python \u6240\u9700\u7684\u6269\u5c55\uff1a</p> <pre><code>pip install -r requirements.txt\n</code></pre> <p>\u81f3\u6b64\uff0cLimSim \u7684\u672c\u5730\u5b89\u88c5\u90e8\u7f72\u5b8c\u6210\u3002</p>"},{"location":"zh/GettingStarted/installDeploy/#_2","title":"\u4eff\u771f\u793a\u4f8b","text":"<p>\u5728\u6839\u76ee\u5f55\u4e0b\uff0c\u6709\u4e00\u4e9b\u4eff\u771f\u793a\u4f8b\u6765\u8bf4\u660e LimSim \u7684\u529f\u80fd\uff0c\u8bbf\u95ee\u4e0b\u9762\u7684\u94fe\u63a5\uff0c\u4e86\u89e3\u529f\u80fd\u8be6\u60c5\uff1a</p> <ul> <li>\u5b9e\u65f6\u4eff\u771f</li> <li>\u56de\u653e\u4e0e\u4ea4\u4e92\u5f0f\u56de\u653e</li> <li>\u5176\u4ed6\u529f\u80fd</li> </ul>"},{"location":"zh/GettingStarted/otherFunction/","title":"Other Functions","text":"<p>\u4e3a\u9002\u5e94\u4e0d\u540c\u7684\u4efb\u52a1\u9700\u6c42\uff0cLimSim \u8fd8\u63d0\u4f9b\u4e86\u4e00\u4e9b\u989d\u5916\u7684\u529f\u80fd\uff0c\u8be6\u60c5\u5982\u4e0b\u3002</p>"},{"location":"zh/GettingStarted/otherFunction/#_1","title":"\u56fa\u5b9a\u573a\u666f\u4eff\u771f","text":"<p>\u9664\u4e86\u8ddf\u968f Ego \u8fdb\u884c\u957f\u65f6\u7684\u4eff\u771f\u6d4b\u8bd5\uff0cLimSim \u8fd8\u63d0\u4f9b\u4e86\u56fa\u5b9a\u89c6\u89d2\u7684\u4eff\u771f\u3002\u5728\u8fd9\u79cd\u6a21\u5f0f\u4e0b\uff0cAoI \u5e76\u4e0d\u968f\u67d0\u8f86\u8f66\u79fb\u52a8\uff0c\u800c\u662f\u56fa\u5b9a\u5728\u6307\u5b9a\u7684\u4f4d\u7f6e\u4e0a\uff0c\u800c\u8fdb\u5165 AoI \u7684\u8f66\u8f86\u4ecd\u7136\u4f1a\u53d7\u5230\u51b3\u7b56\u89c4\u5212\u7b97\u6cd5\u7684\u63a7\u5236\u3002\u8be5\u6a21\u5f0f\u7684\u8c03\u7528\u65b9\u6cd5\u4e0e\u5b9e\u65f6\u4eff\u771f\u57fa\u672c\u4e00\u81f4\uff0c\u8fd0\u884c <code>FixedSimExample.py</code> \u5373\u67e5\u770b\u56fa\u5b9a\u573a\u666f\u7684\u4eff\u771f\u793a\u4f8b\u3002\u8be5\u6a21\u5f0f\u4e0b\u540c\u6837\u6709\u56de\u653e\u529f\u80fd\u548c\u4ea4\u4e92\u5f0f\u56de\u653e\u529f\u80fd\uff0c\u8fd0\u884c <code>FixedSimReplayExample.py</code> \u548c <code>FixedSimInterReplayExample</code> \u53ef\u67e5\u770b\u76f8\u5173\u7684\u793a\u4f8b\uff0c\u8fd9\u91cc\u4e0d\u518d\u8d58\u8ff0\u3002</p>"},{"location":"zh/GettingStarted/otherFunction/#_2","title":"\u952e\u76d8\u64cd\u7eb5\u51b3\u7b56","text":"<p>LimSim \u7684\u51b3\u7b56\u89c4\u5212\u7b97\u6cd5\u63d0\u4f9b\u4e86\u952e\u76d8\u64cd\u7eb5\u7684\u529f\u80fd\uff0c\u5728\u8fd0\u884c\u51b3\u7b56\u89c4\u5212\u7b97\u6cd5\u65f6\uff0c\u70b9\u51fb\u952e\u76d8 <code>&lt;-</code> \u952e\u6216 <code>A</code> \u952e\uff0c\u4f1a\u5411 Ego \u4f20\u9012\u5411\u5de6\u53d8\u9053\u7684\u51b3\u7b56\u4fe1\u606f\uff0c\u5982\u679c\u73af\u5883\u5141\u8bb8\uff0c\u8f66\u8f86\u4f1a\u5411\u5de6\u53d8\u9053\u3002\u7c7b\u4f3c\u7684\uff0c\u70b9\u51fb <code>-&gt;</code> \u952e\u6216 <code>D</code> \u952e\uff0cEgo \u4f1a\u6536\u5230\u5411\u53f3\u53d8\u9053\u7684\u51b3\u7b56\u4fe1\u606f\u3002</p>"},{"location":"zh/GettingStarted/otherFunction/#_3","title":"\u4eff\u771f\u6c47\u62a5","text":"<p>\u5bf9\u4e8e\u4eff\u771f\u751f\u6210\u7684\u6570\u636e\u5e93\uff0cLimSim \u63d0\u4f9b\u4e86\u4e00\u4e2a\u6574\u4f53\u7684\u5206\u6790\u4e0e\u6c47\u62a5\uff0c\u8fd0\u884c\u4e0b\u9762\u7684\u6307\u4ee4\uff0c\u4f1a\u751f\u6210\u6c47\u62a5\u6587\u4ef6 <code>report/report.md</code>\u3002</p> <pre><code>python utils/report.py egoTrackingTest.db\n</code></pre> <p>\u6c47\u62a5\u6587\u4ef6\u4e3b\u8981\u662f\u5bf9\u4eff\u771f\u7684\u7ed3\u679c\u7684\u6574\u4f53\u8bc4\u4ef7\uff0c\u6bd4\u5982\u7ed8\u5236\u901f\u5ea6\u5206\u5e03\u66f2\u7ebf\uff0c\u663e\u793a\u5371\u9669\u573a\u666f\u7684\u6b21\u6570\u7b49\u3002</p>"},{"location":"zh/GettingStarted/realtimeSim/","title":"Real-time Simulation","text":"<p>\u8ddf\u968f Ego \u7684\u5b9e\u65f6\u4eff\u771f\u662f LimSim \u7684\u57fa\u7840\u529f\u80fd\uff0c\u8fd0\u884c\u4e0b\u9762\u7684\u6307\u4ee4\uff0c\u4f53\u9a8c\u4e00\u4e0b\uff1a</p> <pre><code>cd LimSim\npython ModelExample.py\n</code></pre>"},{"location":"zh/GettingStarted/realtimeSim/#_1","title":"\u754c\u9762\u5e03\u5c40","text":"<p>\u82e5\u4e0a\u8ff0\u6307\u4ee4\u8fd0\u884c\u6b63\u5e38\uff0c\u4f1a\u663e\u793a\u5982\u4e0b\u753b\u9762\uff1a</p> <p></p> <p>\u6574\u4e2a\u56fe\u5f62\u754c\u9762\u5206\u4e3a\u4e94\u4e2a\u533a\u57df\u3002A \u533a\u663e\u793a\u8def\u7f51\u7684\u5168\u5c40\u89c6\u89d2\uff0c\u9ec4\u8272\u5706\u5708\u662f\u8ddf\u968f Ego \u79fb\u52a8\u7684\u611f\u5174\u8da3\u533a\u57df (Area of Interest, AoI)\uff0c\u5373\u663e\u793a Ego \u5728\u6574\u4e2a\u8def\u7f51\u4e2d\u7684\u5b9e\u65f6\u4f4d\u7f6e\uff1bB \u533a\u663e\u793a Ego \u7684\u8ddf\u968f\u89c6\u89d2\uff0c\u9ec4\u8272\u534a\u900f\u660e\u5706\u5708\u540c\u6837\u662f AoI\uff0c\u4e0e A \u533a\u4e2d\u7684\u5706\u5708\u662f\u4e00\u81f4\u7684\uff0c\u8f66\u8f86\u524d\u65b9\u7d2b\u8272\u66f2\u7ebf\u4e3a\u8f68\u8ff9\u89c4\u5212\u7b97\u6cd5\u63d0\u4f9b\u7684\u8f68\u8ff9\uff1bC \u533a\u4e3a Ego \u7684\u72b6\u6001\u663e\u793a\u533a\uff0c\u4f1a\u663e\u793a Ego \u7684\u5b9e\u65f6\u901f\u5ea6\u548c\u52a0\u901f\u5ea6\u3002\u6ce8\u610f X \u8f74\u7684\u5750\u6807\uff0c0 \u70b9\u5728 x \u8f74\u7684\u6b63\u4e2d\u95f4\uff0c\u8868\u793a\u5f53\u524d\u65f6\u523b\uff0c0 \u70b9\u5de6\u534a\u8fb9\u8868\u793a\u5386\u53f2\u7684\u901f\u5ea6\u548c\u52a0\u901f\u5ea6\uff0c0 \u70b9\u7684\u53f3\u534a\u8fb9\u8868\u793a\u672a\u6765\u7684\u901f\u5ea6\u548c\u52a0\u901f\u5ea6\uff08\u5373\u89c4\u5212\u7b97\u6cd5\u63d0\u4f9b\u7684\u901f\u5ea6\u548c\u52a0\u901f\u5ea6\uff09\uff0c\u6b64\u5916\u901f\u5ea6\u8f74\u7684\u53d6\u503c\u8303\u56f4\u53d6\u51b3\u4e8e\u9053\u8def\u7684\u9650\u901f\uff1bD \u533a\u4e3a\u4eff\u771f\u4fe1\u606f\u5c55\u793a\u533a\u57df\uff0c\u663e\u793a\u4eff\u771f\u7684\u6a21\u5f0f\uff0c\u4eff\u771f\u65f6\u523b\uff0cEgo \u6240\u5728\u8f66\u9053\uff0c\u4ee5\u53ca Ego \u5728\u8f66\u9053\u4e0a\u7684\u4f4d\u7f6e\uff1bE \u533a\u4e3a\u573a\u666f\u8bc4\u4ef7\u533a\u57df\uff0c\u5b9e\u65f6\u663e\u793a\u5bf9\u573a\u666f\u7684\u8bc4\u4ef7\uff0c\u6bcf\u4e2a\u6307\u6807\u7684\u5177\u4f53\u542b\u4e49\u8bf7\u53c2\u8003 \u573a\u666f\u8bc4\u4ef7\u3002</p> <p>AoI (Area of Interest)</p> <p>AoI \u53ef\u4ee5\u89c6\u4e3a Ego \u7684\u611f\u77e5\u533a\u57df\uff0c\u662f LimSim \u4e3a\u4e86\u8fdb\u884c\u957f\u65f6\u4eff\u771f\u505a\u51fa\u7684\u6298\u4e2d\u65b9\u6848\u3002\u957f\u65f6\u4eff\u771f\u610f\u5473\u7740\u5927\u8303\u56f4\u8def\u7f51\u548c\u5927\u91cf\u4ea4\u901a\u6d41\uff0c\u65e0\u6cd5\u5bf9\u6240\u6709\u8f66\u8f86\u8fdb\u884c\u8f68\u8ff9\u89c4\u5212\u3002\u56e0\u6b64\uff0cAoI \u5185\u90e8\u7684\u8f66\u8f86\uff0c\u5176\u884c\u4e3a\u7531\u51b3\u7b56-\u89c4\u5212\u6a21\u578b\u63a7\u5236\uff0c\u5728 Ego \u7684\u5468\u56f4\u8425\u9020\u591a\u6837\u4e14\u771f\u5b9e\u7684\u9a7e\u9a76\u73af\u5883\uff1bAoI \u5916\u90e8\u7684\u8f66\u8f86\uff0c\u7531 SUMO \u63a7\u5236\uff0c\u7b26\u5408\u57fa\u672c\u7684\u4ea4\u901a\u89c4\u5f8b\u3002</p>"},{"location":"zh/GettingStarted/realtimeSim/#_2","title":"\u793a\u4f8b\u5206\u6790","text":"<p>\u8be5\u4eff\u771f\u793a\u4f8b\u5177\u6709\u5982\u4e0b\u7684\u7ed3\u6784\uff1a</p> <pre><code>from simModel.egoTracking.model import Model\nfrom trafficManager.traffic_manager import TrafficManager\nnetFile = 'data/networkFiles/CarlaTown05/Town05.net.xml'\nrouFile = 'data/networkFiles/CarlaTown05/carlavtypes.rou.xml,data/networkFiles/CarlaTown05/Town05.rou.xml'\nif __name__ == '__main__': # (1)\nmodel = Model(\negoID = '61', \nnetFile = netFile, \nrouFile = rouFile, \ndataBase = 'egoTrackingTest.db'\n)\nmodel.start()\nplanner = TrafficManager(model)\nwhile not model.tpEnd:\nmodel.moveStep()\nif model.timeStep % 5 == 0:\nroadgraph, vehicles = model.exportSce()\nif model.tpStart and roadgraph:\ntrajectories = planner.plan(\nmodel.timeStep * 0.1, roadgraph, vehicles)\nmodel.setTrajectories(trajectories)\nelse:\nmodel.ego.exitControlMode() # (2)\nmodel.updateVeh()\nmodel.destroy()\n</code></pre> <ol> <li>  \u5728 Windows \u7cfb\u7edf\u4e0b\uff0c\u8bf7\u52a1\u5fc5\u4fdd\u8bc1 model \u7684\u76f8\u5173\u4ee3\u7801\u90fd\u5728 <code>if __name__ == '__main__':</code> \u8303\u56f4\u5185\uff0c\u5426\u5219\u7a0b\u5e8f\u4f1a\u5d29\u6e83\u3002\u4e3b\u8981\u539f\u56e0\u5728\u4e8e SUMO \u4f7f\u7528\u4e86 Python \u7684 multiprocessing \u6a21\u5757\uff0c\u800c\u8be5\u6a21\u5757\u4ea7\u751f\u8fdb\u7a0b\u7684\u65b9\u6cd5\uff0c\u5728 Windows \u4e0b \u548c Linux \u4e0b\u5b58\u5728\u4e0d\u540c\uff0c\u8be6\u60c5\u8bf7\u53c2\u8003\uff1acontexts-and-start-methods</li> <li>\u5982\u679c\u4e0d\u518d\u63a7\u5236 Ego\uff0c\u8bb0\u5f97\u5c06\u63a7\u5236\u6743\u4ea4\u8fd8\u7ed9 SUMO\u3002</li> </ol> <p>\u7a0b\u5e8f\u7684\u7b2c 8 \u884c\u662f\u6a21\u578b\u7684\u521d\u59cb\u5316\uff0c\u4e3b\u8981\u7684\u53c2\u6570\u6709 <code>egoID</code> \uff0c\u7528\u6765\u6307\u5b9a\u7684 Ego car \u7684 ID\u3002\u8fd9\u91cc\u6211\u4eec\u4f7f\u7528 SUMO \u8fdb\u884c\u73af\u5883\u4ea4\u901a\u6d41\u7684\u7ba1\u7406\uff0c\u8def\u7f51\u4e2d\u6240\u6709\u8f66\u8f86\u7684\u8def\u5f84\u4fe1\u606f\u5b9e\u9645\u4e0a\u662f\u88ab\u5b9a\u4e49\u5728 <code>Town05.rou.xml</code> \u4e2d\u7684\u3002\u56e0\u6b64\u4f60\u53ef\u4ee5\u67e5\u770b\u8fd9\u4e2a\u6587\u4ef6\uff0c\u9009\u62e9\u559c\u6b22\u7684\u4e00\u8f86\u8f66\u4f5c\u4e3a Ego car\uff0c\u6216\u8005\u4f60\u53ef\u4ee5\u53c2\u8003 \u81ea\u5b9a\u4e49\u8f66\u8f86\u548c\u8def\u5f84\u6765\u751f\u6210\u7279\u5b9a\u8def\u5f84\u7684\u8f66\u8f86\u6765\u8fdb\u884c\u6a21\u578b\u7684\u4eff\u771f\u548c\u7b97\u6cd5\u7684\u6d4b\u8bd5\u3002\u7136\u540e\u662f\u4eff\u771f\u4f7f\u7528\u7684\u8def\u7f51\u8def\u7f51\u6587\u4ef6 <code>netFile</code> \u548c\u8def\u5f84\u6587\u4ef6 <code>rouFile</code> \uff0c\u8fd9\u4e9b\u6587\u4ef6\u7684\u751f\u6210\u548c\u5b9a\u4e49\u8bf7\u53c2\u8003 SUMO \u7684\u6587\u6863\u3002<code>dataBase</code> \u4e3a\u8bb0\u5f55\u4eff\u771f\u6570\u636e\u7684\u6570\u636e\u5e93\uff0c\u5b57\u7b26\u4e32\u7c7b\u578b\u3002</p> <p>\u7b2c 15 \u884c\u662f\u8f68\u8ff9\u89c4\u5212\u7b97\u6cd5\u7684\u521d\u59cb\u5316\uff0c\u5305\u62ec\u8f68\u8ff9\u9884\u6d4b\u3001\u51b3\u7b56\u3001\u89c4\u5212\u7b49\u591a\u4e2a\u6a21\u5757\u3002\u8fd9\u91cc\u4f7f\u7528\u4e86 LimSim \u5b9e\u73b0\u7684\u57fa\u7840\u7248\u672c\uff08\u9ed8\u8ba4\u53c2\u6570\uff09\uff0c\u7528\u4ee5\u63a7\u5236 AoI \u4e2d\u7684\u8f66\u8f86\uff0c\u4f60\u4e5f\u53ef\u4ee5\u66ff\u6362\u5176\u4e2d\u4efb\u4f55\u4e00\u4e2a\u73af\u8282\u4e3a\u4f60\u81ea\u5df1\u7684\u7b97\u6cd5\u3002</p> <p>17 \u884c\u5f00\u59cb\u662f\u7a0b\u5e8f\u8fd0\u884c\u7684\u4e3b\u8981\u73af\u8282\uff0c<code>model.tpEnd</code> \u662f\u5e03\u5c14\u53d8\u91cf\uff0c\u7528\u6765\u8868\u5f81 Ego \u662f\u5426\u5230\u8fbe\u7ec8\u70b9\uff0c\u5373\u7a0b\u5e8f\u662f\u5426\u7ed3\u675f\u3002<code>model.moveStep()</code> \u548c <code>model.updateVeh()</code> \u662f\u4eff\u771f\u66f4\u65b0\u7684\u6d41\u7a0b\uff0c\u524d\u8005\u7528\u4e8e\u83b7\u53d6\u6240\u6709\u4ea4\u901a\u53c2\u4e0e\u8005\u7684\u4fe1\u606f\uff0c\u540e\u8005\u7528\u4e8e\u66f4\u65b0\uff08\u63a7\u5236\uff09\u6240\u6709\u4ea4\u901a\u53c2\u4e0e\u8005\u7684\u4fe1\u606f\u3002\u56e0\u6b64\u5728\u4e24\u8005\u4e4b\u95f4\uff0c\u53ef\u4ee5\u7528\u8f68\u8ff9\u89c4\u5212\u7b97\u6cd5\u63a7\u5236 AoI \u4e2d\u7684\u8f66\u8f86\u3002</p> <p>\u7531\u4e8e\u8f68\u8ff9\u89c4\u5212\u7b97\u6cd5\u901a\u5e38\u6bd4\u8f83\u8017\u65f6\uff0c\u800c\u4e14\u4e00\u6b21\u89c4\u5212\u53ef\u4ee5\u7ed9\u51fa\u672a\u6765\u591a\u5e27\u7684\u8f68\u8ff9\uff0c\u6240\u4ee5\u6211\u4eec\u53ef\u4ee5\u6bcf 5 \u5e27\u8fdb\u884c\u4e00\u6b21\u8f68\u8ff9\u89c4\u5212\uff0c\u5373 <code>if model.timeStep % 5 == 0:</code>\u3002\u7136\u540e\uff0c\u7531 <code>roadgraph, vehicles = model.exportSce()</code> \u83b7\u5f97\u5f53\u524d\u65f6\u523b Ego \u9644\u8fd1\u7684\u573a\u666f\u3002\u5176\u4e2d\uff0c<code>roadgraph</code> \u4e3a Ego \u5468\u56f4\u7684\u8def\u7f51\u4fe1\u606f\uff0c<code>vehicles</code> \u4e3a Ego \u5468\u56f4\u8f66\u8f86\u7684\u4fe1\u606f\u3002\u8f68\u8ff9\u89c4\u5212\u7b97\u6cd5\u8fd4\u56de\u7684\u8f68\u8ff9\u5219\u901a\u8fc7 <code>model.setTrajectories()</code> \u4f20\u56de\u4eff\u771f\u4e2d\u3002</p> <p>\u4e0a\u8ff0\u4eff\u771f\u8fd0\u884c\u5b8c\u6210\u540e\uff0c\u4f1a\u5c06\u4eff\u771f\u8fc7\u7a0b\u4e2d\u6240\u6709\u7684\u6570\u636e\u5b58\u653e\u5728 <code>egoTrackingTest.db</code> \u4e2d\uff0c\u4f9b\u56de\u653e\u548c\u5206\u6790\u6240\u7528\uff0c\u5173\u4e8e\u6570\u636e\u5e93\u7684\u4ecb\u7ecd\uff0c\u53ef\u4ee5\u53c2\u8003\u6570\u636e\u5e93\u3002</p>"},{"location":"zh/GettingStarted/replayAndIreplay/","title":"Replay & Interactive Replay","text":"<p>\u56de\u653e\u662f\u4eff\u771f\u7a0b\u5e8f\u7684\u91cd\u8981\u529f\u80fd\uff0c\u53ef\u4ee5\u5e2e\u52a9\u6211\u4eec\u6df1\u5165\u5206\u6790\u5371\u9669\u573a\u666f\u548c\u5931\u8d25\u573a\u666f\u4ea7\u751f\u7684\u539f\u56e0\uff0c\u4ece\u800c\u4f18\u5316\u76f8\u5173\u7b97\u6cd5\u3002LimSim \u540c\u6837\u63d0\u4f9b\u4e86\u56de\u653e\u529f\u80fd\uff0c\u53ef\u4ee5\u5bf9\u5b9e\u65f6\u4eff\u771f\u751f\u6210\u7684\u6570\u636e\u8fdb\u884c\u56de\u653e\u3002\u5728\u6b64\u57fa\u7840\u4e0a\uff0c\u6211\u4eec\u63d0\u4f9b\u4e86\u4ea4\u4e92\u5f0f\u56de\u653e\u529f\u80fd\uff0c\u5e2e\u52a9\u7b97\u6cd5\u5728\u5173\u952e\u573a\u666f\u4e0a\u8fdb\u884c\u66f4\u65b0\u8fed\u4ee3\u3002</p>"},{"location":"zh/GettingStarted/replayAndIreplay/#_1","title":"\u4eff\u771f\u56de\u653e","text":"<p>\u5728\u6839\u76ee\u5f55\u4e0b\uff0c\u8fd0\u884c\u4e0b\u5217\u6307\u4ee4\u53ef\u4ee5\u8c03\u7528 LimSim \u7684\u56de\u653e\u529f\u80fd\uff1a</p> <pre><code>python ReplayExample.py\n</code></pre>"},{"location":"zh/GettingStarted/replayAndIreplay/#_2","title":"\u754c\u9762\u5e03\u5c40","text":"<p>\u4e0a\u8ff0\u6307\u4ee4\u4f1a\u8c03\u51fa\u56de\u653e\u529f\u80fd\u7684\u754c\u9762\uff0c\u5982\u4e0b\u56fe\u6240\u793a:</p> <p></p> <p>\u53ef\u4ee5\u770b\u5230\uff0c\u76f8\u8f83\u4e8e\u5b9e\u65f6\u4eff\u771f\uff0c\u56de\u653e\u7684\u754c\u9762\u591a\u4e86\u4e00\u4e2a\u63a7\u5236\u9762\u677f\uff0c\u8be5\u533a\u57df\u53ef\u4ee5\u63a7\u5236\u56de\u653e\u7684\u5f00\u59cb\u4e0e\u6682\u505c\uff0c\u56de\u653e\u7684\u901f\u5ea6\u7b49\uff0c\u65b9\u4fbf\u67e5\u770b\u4eff\u771f\u7684\u5173\u952e\u7ec6\u8282\u3002\u6b64\u5916\u5728 B \u533a\uff0c\u6211\u4eec\u53ef\u4ee5\u770b\u5230\u8f66\u8f86\u524d\u65b9\u6709\u7c89\u7ea2\u8272\u7684\u66f2\u7ebf\uff0c\u8be5\u66f2\u7ebf\u662f\u6570\u636e\u5e93\u8bb0\u5f55\u7684\u8f66\u8f86\u7684\u672a\u6765\u8f68\u8ff9\uff0c\u8f66\u8f86\u4f1a\u5b8c\u5168\u6309\u7167\u7c89\u7ea2\u8272\u66f2\u7ebf\u7684\u8f68\u8ff9\u884c\u9a76\uff0c\u6211\u4eec\u5c06\u5176\u79f0\u4e3a <code>dbTrajectory</code>\uff1b\u4e0e\u4e4b\u5bf9\u5e94\u7684\uff0c\u8f68\u8ff9\u89c4\u5212\u7b97\u6cd5\u63d0\u4f9b\u7684\u7d2b\u8272\u66f2\u7ebf\u88ab\u5b9a\u4e49\u4e3a <code>plannedTrajectory</code>\u3002C \u533a\u5728\u663e\u793a\u8f66\u8f86\u72b6\u6001\u65f6\uff0c\u5728 0 \u70b9\u7684\u53f3\u4fa7\uff0c\u540c\u6837\u662f\u663e\u793a\u6570\u636e\u5e93\u4e2d\u8bb0\u5f55\u7684\u8f66\u8f86\u7684\u901f\u5ea6\u548c\u52a0\u901f\u5ea6\u3002</p>"},{"location":"zh/GettingStarted/replayAndIreplay/#_3","title":"\u793a\u4f8b\u5206\u6790","text":"<p>\u4eff\u771f\u56de\u653e\u7684\u793a\u4f8b\u4ee3\u7801\u5f88\u7b80\u5355\uff0c\u5982\u4e0b\u6240\u793a\uff1a</p> <pre><code>rmodel = ReplayModel(dataBase = 'egoTrackingTest.db')\nwhile not rmodel.tpEnd:\nrmodel.moveStep() # (1)\nrmodel.gui.destroy()\n</code></pre> <ol> <li> \u8fd9\u91cc\u7531\u4e8e\u4e0d\u9700\u8981\u4e0e SUMO \u4ea4\u6362\u6570\u636e\uff0c\u6240\u4ee5\u53ea\u9700\u8981\u8fd0\u884c <code>rmodel.moveStep()</code> \u5373\u53ef\u3002</li> </ol> <p>\u4eff\u771f\u56de\u653e\u7684\u521d\u59cb\u5316\u53ea\u9700\u8981\u6307\u5b9a\u6570\u636e\u5e93\uff0c\u4e14\u4e0d\u9700\u8981\u540c\u5916\u90e8\u8fdb\u884c\u4ea4\u4e92\uff0c\u56e0\u6b64\u8be5\u793a\u4f8b\u7684\u4ee3\u7801\u76f8\u5bf9\u7b80\u5355\u3002</p>"},{"location":"zh/GettingStarted/replayAndIreplay/#_4","title":"\u4ea4\u4e92\u5f0f\u56de\u653e","text":"<p>\u5728\u81ea\u52a8\u9a7e\u9a76\u6d4b\u8bd5\u4eff\u771f\u7684\u8fc7\u7a0b\u4e2d\uff0c\u53ef\u80fd\u4f1a\u51fa\u73b0\u90e8\u5206\u5371\u9669\u573a\u666f\u548c\u5931\u8d25\u573a\u666f\uff0c\u8fd9\u4e9b\u573a\u666f\u662f\u81ea\u52a8\u9a7e\u9a76\u6d4b\u8bd5\u5347\u7ea7\u7684\u91cd\u8981\u6570\u636e\u6765\u6e90\u3002\u56e0\u6b64\uff0c\u5728\u5371\u9669\u573a\u666f\u4e0a\u8fdb\u884c\u91cd\u65b0\u6d4b\u8bd5\u662f\u5f88\u91cd\u8981\u7684\u4e00\u4e2a\u529f\u80fd\u3002\u7136\u800c\uff0c\u5982\u679c\u4ec5\u5bf9 Ego \u8fdb\u884c\u91cd\u65b0\u63a7\u5236\uff0c\u5468\u56f4\u7684\u8f66\u8f86\u4e0d\u5bf9 Ego \u7684\u884c\u4e3a\u505a\u51fa\u54cd\u5e94\uff0c\u6d4b\u8bd5\u5c31\u5931\u53bb\u4e86\u672c\u8eab\u7684\u610f\u4e49\u3002\u56e0\u6b64\uff0cLimSim \u63d0\u4f9b\u4e86\u4ea4\u4e92\u5f0f\u56de\u653e\u7684\u529f\u80fd\uff0c\u8ba9\u7528\u6237\u53ef\u4ee5\u5728\u5371\u9669\u573a\u666f\u4e2d\u8fed\u4ee3\u7b97\u6cd5\u3002</p> <p></p> <p>\u4ea4\u4e92\u5f0f\u4eff\u771f\u9700\u8981\u4e3a\u573a\u666f\u4e2d\u7684\u8f66\u8f86\u89c4\u5212\u65b0\u7684\u8f68\u8ff9\uff0c\u4e5f\u5c31\u9700\u8981\u5904\u7406\u65b0\u65e7\u8f68\u8ff9\u4e4b\u95f4\u7684\u51b2\u7a81\u3002\u5982\u4e0a\u56fe\u6240\u793a\uff0c\u4e24\u8f66\u6309\u7167\u539f\u59cb\u8f68\u8ff9\u884c\u9a76\u662f\u6ca1\u6709\u51b2\u7a81\u7684\uff0c\u4f46\u662f\u5f53 ego \u6539\u53d8\u8f68\u8ff9\u7684\u65f6\u5019\uff0c\u5c31\u53ef\u80fd\u4e0e\u5176\u4ed6\u8f66\u8f86\u53d1\u751f\u78b0\u649e\u3002\u8fd9\u65f6\uff0c\u5176\u4ed6\u8f66\u8f86\u9700\u8981\u505a\u51fa\u54cd\u5e94\u6765\u907f\u514d\u78b0\u649e\uff0c\u4e5f\u5c31\u662f\u6309\u7167\u56fe\u4e2d\u7d2b\u8272\u7684\u8f68\u8ff9\u6765\u884c\u9a76\u3002\u7136\u800c\uff0c\u5f53ego \u8fdc\u79bb\u4e86\u8fd9\u4e2a\u573a\u666f\uff0c\u521a\u624d\u88ab\u63a7\u5236\u7684\u8f66\u8f86\u5c31\u9762\u4e34\u4e00\u4e2a\u95ee\u9898\u2014\u2014\u662f\u5426\u56de\u5230\u539f\u8f68\u8ff9\u4e0a\u3002\u5982\u679c\u56de\u5230\u539f\u8f68\u8ff9\u4e0a\uff0c\u5c31\u4f1a\u4ea7\u751f\u4f4d\u7f6e\u7684\u7a81\u53d8\uff0c\u53ef\u80fd\u5bfc\u81f4\u65b0\u7684\u51b2\u7a81\uff0c\u5982\u679c\u4e0d\u56de\u5230\u539f\u8f68\u8ff9\u4e0a\uff0c\u5219\u8f66\u8f86\u540e\u7eed\u7684\u8f68\u8ff9\u5c31\u6ca1\u6709\u4e86\u53ea\u80fd\u505c\u5728\u539f\u5730\u6216\u6d88\u5931\u3002</p> <p>LimSim \u5c06\u4e0a\u8ff0\u95ee\u9898\u62c6\u6210\u4e09\u4e2a\u5b50\u95ee\u9898\u6765\u89e3\u51b3\uff1a1. \u4f55\u65f6\u4e3a\u8f66\u8f86\u89c4\u5212\u65b0\u7684\u8f68\u8ff9\uff1b2. \u89c4\u5212\u8f68\u8ff9\u8981\u6301\u7eed\u591a\u4e45\uff1b3. \u8f68\u8ff9\u89c4\u5212\u7ed3\u675f\u540e\uff0c\u5982\u4f55\u5904\u7406\u8fd9\u8f86\u8f66\u3002</p> <p>\u7b2c\u4e00\uff0c\u4e3a\u8f66\u8f86\u89c4\u5212\u65b0\u7684\u8f68\u8ff9\u5e76\u4e0d\u662f\u8d8a\u65e9\u8d8a\u597d\uff0c\u5982\u679c\u8f66\u8f86\u521a\u751f\u6210\u5c31\u4e3a\u5176\u89c4\u5212\u65b0\u7684\u8f68\u8ff9\uff0c\u90a3\u5bf9\u6570\u636e\u7684\u5229\u7528\u7a0b\u5ea6\u592a\u4f4e\uff0c\u4ec5\u4ec5\u7528\u5230\u4e86\u8f66\u8f86\u751f\u6210\u7684\u4f4d\u7f6e\u3002\u56e0\u6b64 LimSim \u4f7f\u7528\u78b0\u649e\u68c0\u6d4b\u6765\u5224\u65ad\u662f\u5426\u9700\u8981\u4e3a\u8f66\u8f86\u89c4\u5212\u65b0\u7684\u8f68\u8ff9\u3002\u5982\u679c\u8f66\u8f86\u7684\u539f\u59cb\u8f68\u8ff9\u4e0e\u5176\u4ed6\u8f66\u8f86\u7684\u65b0\u8f68\u8ff9\u51b2\u7a81\uff08\u8f66\u8f86\u9996\u5148\u8981\u5728 AoI \u5185\uff09\uff0c\u5219\u9700\u8981\u4e3a\u8f66\u8f86\u91cd\u65b0\u89c4\u5212\u8f68\u8ff9\uff0c\u5426\u5219\u5c31\u7ef4\u6301\u539f\u8f68\u8ff9\u884c\u9a76\u3002</p> <p>\u7b2c\u4e8c\uff0c\u524d\u6587\u63d0\u5230\u8f66\u8f86\u8131\u79bb\u63a7\u5236\u540e\u8981\u4e48\u8df3\u56de\u539f\u8f68\u8ff9\uff0c\u8981\u4e48\u505c\u5728\u539f\u5730\u6216\u6d88\u5931\u3002\u8fd9\u4e24\u79cd\u5f62\u5f0f\u663e\u7136\u90fd\u4f1a\u5927\u5927\u964d\u4f4e\u4eff\u771f\u7684\u8fde\u8d2f\u6027\u548c\u6709\u6548\u6027\u3002\u56e0\u6b64 LimSim \u4f1a\u5224\u65ad\u8131\u79bb\u63a7\u5236\u7684\u8f66\u8f86\u662f\u5426\u8fd8\u5728 AoI \u5185\uff0c\u5982\u679c\u8f66\u8f86\u4ecd\u5728 AoI \u5185\uff0c\u5373\u4f7f\u4e0d\u518d\u51b2\u7a81\uff0cLimSim \u4f9d\u7136\u4f1a\u7ee7\u7eed\u4e3a\u5176\u89c4\u5212\u8f68\u8ff9\uff0c\u76f4\u5230\u5176\u79bb\u5f00 AoI\u3002\u8fd9\u6837\u505a\u4e3b\u8981\u662f\u4e3a\u4e86\u4fdd\u8bc1 AoI \u5185\u7684\u573a\u666f\u662f\u8fde\u8d2f\u7684\uff0c\u800c\u5728 AoI \u5916\u7684\u8f66\u8f86\u5219\u5bf9 ego \u7684\u5f71\u54cd\u8f83\u5c0f\u3002</p> <p>\u7b2c\u4e09\uff0c\u5f53\u8f66\u8f86\u4e0d\u518d\u9700\u8981\u4ea4\u4e92\uff0c\u4e14\u79bb\u5f00\u4e86 AoI\uff0c\u5219\u63a7\u5236\u9636\u6bb5\u7ed3\u675f\u3002\u8fd9\u65f6\u5982\u679c\u8ba9\u8f66\u8f86\u56de\u5230\u539f\u8f68\u8ff9\uff0c\u5219\u53ef\u80fd\u4e0e\u5176\u4ed6\u8f66\u8f86\u53d1\u751f\u78b0\u649e\uff0c\u56e0\u6b64 LimSim \u9009\u62e9\u76f4\u63a5\u9500\u6bc1\u8fd9\u8f86\u8f66\u3002\u5982\u679c\u6570\u636e\u96c6\u4e2d\u8fd8\u6709\u8fd9\u8f86\u8f66\u7684\u5269\u4f59\u8f68\u8ff9\uff0c\u5219\u4f1a\u5728\u5bf9\u5e94\u7684\u65f6\u523b\u91cd\u65b0\u751f\u6210\u8fd9\u8f86\u8f66\u3002\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0cLimSim \u5728\u751f\u6210\u8f66\u8f86\u7684\u65f6\u5019\uff0c\u90fd\u4f1a\u5224\u65ad\u8be5\u8f66\u662f\u5426\u4f1a\u4e0e\u8def\u7f51\u4e2d\u73b0\u6709\u7684\u8f66\u8f86\u4ea7\u751f\u51b2\u7a81\uff0c\u5982\u679c\u4e0d\u51b2\u7a81\u5219\u751f\u6210\u8f66\u8f86\uff0c\u53cd\u4e4b\uff0c\u5219\u5ef6\u8fdf\u5230\u4e0b\u4e00\u4e2a\u65f6\u523b\u518d\u751f\u6210\u3002</p> <p>\u78b0\u649e\u68c0\u6d4b</p> <p>\u4e00\u822c\u7684\u78b0\u649e\u68c0\u6d4b\u7b97\u6cd5\u4f1a\u4f7f\u7528\u5206\u79bb\u8f74\u5b9a\u7406\u5224\u65ad\u4e24\u4e2a\u77e9\u5f62\u662f\u5426\u76f8\u4ea4\uff0c\u8fd9\u79cd\u65b9\u6cd5\u53ef\u4ee5\u5224\u65ad\u67d0\u4e2a\u65f6\u523b\u4e24\u8f66\u662f\u5426\u76f8\u649e\u3002\u4f46\u662f\u5728\u4eff\u771f\u4e2d\uff0c\u6211\u4eec\u8981\u4e3a\u8f66\u8f86\u7559\u51fa\u8db3\u591f\u7684\u53cd\u5e94\u65f6\u95f4\u3002\u6bd4\u5982 A \u8f66\u751f\u6210\u65f6\uff0c\u524d\u65b9 3 \u7c73\u5904\u6709\u4e00\u8f86 B \u8f66\u5728\u884c\u9a76\uff0c\u5373\u4f7f\u8fd9\u4e2a\u65f6\u523b\u4e24\u8f66\u4e0d\u76f8\u649e\uff0c\u672a\u6765\u51e0\u79d2\u5185\u4e24\u8f66\u8fd8\u662f\u6709\u5f88\u5927\u7684\u53ef\u80fd\u6027\u51b2\u7a81\u3002\u56e0\u6b64\uff0cLimSim \u4f1a\u4f7f\u7528\u8f66\u8f86\u672a\u6765\u7684\u8f68\u8ff9\uff08<code>dbTrajectory</code> \u6216 <code>plannedTrajectory</code>\uff09\u6765\u8fdb\u884c\u78b0\u649e\u68c0\u6d4b\uff0c\u4ee5\u907f\u514d\u6f5c\u5728\u7684\u51b2\u7a81\u3002</p>"},{"location":"zh/GettingStarted/replayAndIreplay/#_5","title":"\u4eff\u771f\u793a\u4f8b","text":"<p>\u4ecb\u7ecd\u4e86\u5b9e\u73b0\u65b9\u6cd5\u4e4b\u540e\uff0c\u8fd0\u884c\u4e0b\u9762\u7684\u6307\u4ee4\uff0c\u53ef\u4ee5\u8fd0\u884c\u4ea4\u4e92\u5f0f\u4eff\u771f\u7684\u793a\u4f8b\uff1a</p> <pre><code>python InterReplayExample.py\n</code></pre> <p>\u5982\u679c\u4e0a\u8ff0\u6307\u4ee4\u8fd0\u884c\u6b63\u5e38\uff0c\u5219\u540c\u6837\u4f1a\u8c03\u51fa\u56fe\u5f62\u754c\u9762\u3002\u56fe\u5f62\u754c\u9762\u7684\u6574\u4f53\u7ed3\u6784\u4e0e\u5b9e\u65f6\u4eff\u771f\u4e00\u81f4\uff0c\u4ec5\u5728 B \u533a\u6709\u4e9b\u8bb8\u4e0d\u540c\u3002\u5982\u4e0b\u56fe\u6240\u793a\uff0c\u8f66\u8f86\u524d\u9762\u7684\u66f2\u7ebf\u6709\u7c89\u7ea2\u8272\u548c\u7d2b\u8272\u4e24\u79cd\uff0c\u5206\u522b\u5bf9\u5e94\u524d\u6587\u63d0\u53ca\u7684 <code>dbTrajectory</code> \u548c <code>plannedTrajectory</code>\u3002\u8f66\u8f86\u5982\u679c\u6309\u7167\u6570\u636e\u5e93\u4e2d\u7684\u8f68\u8ff9\u884c\u9a76\uff0c\u5219\u663e\u793a <code>dbTrajectory</code>\uff0c\u5982\u679c\u53d7\u5230\u51b3\u7b56\u89c4\u5212\u7b97\u6cd5\u7684\u63a7\u5236\uff0c\u5219\u663e\u793a <code>plannedTrajectory</code>\u3002</p> <p></p> <p>\u793a\u4f8b\u4ee3\u7801\u5982\u4e0b\uff1a</p> <pre><code>from trafficManager.traffic_manager import TrafficManager\nfrom simModel.egoTracking import interReplay\nirmodel = interReplay.InterReplayModel(\ndataBase='egoTrackingTest.db', \nstartFrame=4000\n)\nplanner = TrafficManager(irmodel)\nwhile not irmodel.tpEnd:\nirmodel.moveStep()\nif irmodel.timeStep % 5 == 0:\nroadgraph, vehicles = irmodel.exportSce()\nif roadgraph:\ntrajectories = planner.plan(\nirmodel.timeStep * 0.1, \nroadgraph, vehicles\n)\nelse:\ntrajectories = {} # (1)\nirmodel.setTrajectories(trajectories)\nelse:\nirmodel.setTrajectories({})\nirmodel.gui.destroy()\n</code></pre> <ol> <li>  \u8fd0\u884c\u4ea4\u4e92\u5f0f\u56de\u653e\u65f6\uff0c<code>irmodel.setTrajectories()</code> \u51fd\u6570\u662f\u5fc5\u987b\u7684\uff0c\u5373\u4f7f\u6ca1\u6709\u89c4\u5212\u8f68\u8ff9\uff0c\u4e5f\u9700\u8981\u4f20\u5165\u7a7a\u7684\u5b57\u5178\u3002</li> </ol> <p>\u793a\u4f8b\u4ee3\u7801\u6574\u4f53\u4e0e\u5b9e\u65f6\u4eff\u771f\u5dee\u522b\u4e0d\u5927\uff0c\u5c06\u8def\u7f51\u6587\u4ef6\u548c\u8def\u5f84\u6587\u4ef6\u66ff\u6362\u4e3a\u5bf9\u5e94\u7684\u6570\u636e\u5e93\u5373\u53ef\u3002</p>"}]}
\ No newline at end of file
diff --git a/simModel/__pycache__/__init__.cpython-39.pyc b/simModel/__pycache__/__init__.cpython-39.pyc
deleted file mode 100644
index ae0844ce1ca72be7af1eb06659d4ec60701b34c8..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 142
zcmYe~<>g`kf_q2Tr-10kAOaaM0yz#qT+9L_QW%06G#UL?G8BP?5yUTJ{fzwFRQ>YA
z%Dhzl<ouLWeV@$S;LP0kfYPL#%w+xI%v@ifXpVk-d}dx|NqoFsLFFwDo80`A(wtN~
KkYS&Jm;nH3)*%-F

diff --git a/simModel/common/__pycache__/carFactory.cpython-39.pyc b/simModel/common/__pycache__/carFactory.cpython-39.pyc
deleted file mode 100644
index 8adae7825da04501cb623336ccb380c821ecdf5a..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 14314
zcmdU0eT-aJb$?&;=FR8MuE*<j>^NgE2?J*BgaE-c!Hzd3n>ZUgHVJtl9gXL{UC(&F
zeBayk&N9=cSrfZJQ1}P+4;QT^O6yjIBDE^Cl`2&rgc@ioN=2Vk1f^2D{MRD&kC4Xw
zopa~S%zik9TB_7tz5CAnc=w)r?)kds-YI7?NezEL{N`80cV{*2CzKievyeHaX}bRd
z074UbU2EvBt`lt3jfUx(44ZYU5p!b=+qD~UH_l}i>K)f%I95+Il5UD&yPj@j+)Teb
z>yDwXSUu<F@Q&AWjd6FJ>zw*TV~4w=k$3Z)Pt<odCf&)#E_WB_ll7^_Zg)4ssrp@w
zJ?@^yUU#pqeMA#!k-4IY%&Otuja*iYAvfmTy=uDqkk5&6<i}BakBFVsiWBQJ=b|2_
z%FSjgC<oP6(?>QYyi1E-(G1N>%MXoqH8lNdliCSyzPwluM70vkQNy;ZHUj|JbFzG5
z_R-~v*QQR2Mwp)Sg3B#=@sY)9U4-$cz4HX1B7UOPlH%OSFeyB-Sn(be3m$q%qKBGS
z30ks)M#;IBY?SM#%1tj!Kfc(kP_LA$5XPf_HZsR(rM|0cny0zC&|E|4!Vu<lLs%kq
z#d1wyi@0!*PlzP)mKPH#k-nm>>aGnqBeD#~0gs6s!w%qaF~M*G@D7n@I0<;Cm}EEw
zSQopl>tagmzG9)bG)nH`l09NCmt+QQ?iTyFBs(a%M-;eZOzanLWBlGO4gkL#@O=k*
zy;t0a+&FrS{@-~$CW_)+D4h`R76-3r?hf%DF^zW~eH`LG4vYIyzY~}}z~8-BJczH}
zC*F_J$wAo%u3O?E@j;aB+E8{x{0hpZ@a0ip@FDRqa=VfHFmlJlapVY>N02)qW{}&1
z+@r{y6dyruZy)o=#4K`m1Bb^^_k=iw+&=LnQ)W&)h1@;jH0FE;Yx1->i+rI^$#deP
z$n6);fIpuN<Ii{(s+GD21`K3q&9#~yxWlN5(3W1XD4P{ygc%4n@th!j_y&Nk-qlK4
zprdc&6@rZs*c^ea5jZvi+aqv%1a?N?gwW7)lG7BYX-+f3M0r+NNXJABDb^L~xQHX2
z;5Ivi12``Tx1HR6lFN5-IwdqvAu+cuFc-*(-6${Dz2*XP_{$$#_|9we_r{0&CC;%v
zFmY_*u^+GGzx=ItACnLZt+-p}@sdQG&{#eb8l5wt)hS;-6WV^;^90`IO2w<63FCE0
z+3d`j&>`S-%Rdt)WNR_-W(B^p8T3Q@)TyV>dO;Y+dj`q?zzGG|gkW$Xj9sn@yd0o>
zoO)(x#*3h{G-?=MI@f7qv@l(&`ju8QkgYn3Q}tHs;>ni0T$aLhnynKT%FP8Y9B%`q
zrYDA)B20_(!yGun^1b>z&-JDz4`H^iA3b!T)$k5oE_a&Vp-M}5hfY-+XRD3U>BaN)
zYUPk$Z9Iw6I_esYR`XD$EKinM4NbQ@p;IbVo7JFHBJ%l%k!ZSYruD%;!?wQ7zoE)j
za(xz_j=GX$dRB75V!Q4=?|Z?)0;$s%h_9RH<xW&?U}`Ez;bEr!JXSN%R<)i{)p}sy
z!02i<a}^9e1!Xp)z3^HO>{c_o)^4pAt7=`d8#@XyShKpZ8+y;~8eO{<dj#Lpn`(E%
zprHkSBlKMwzKf&I?#2N*U8mp1?DrB!FA2sV*-g}97;&bT>N<EI>7_AFyqiXg%*s?Z
zx#n~;wL~|C5rEAN7|&<5OP{y2AlZSgrvK-VKaA(nXMtCeu}b#G1J;-J5>~<n9$B72
z7Cn!l<(Qg*V5q9&i|kP?NCoLty_Xx(gz53Cqx2ZiVZ1xexaWHl-CTEKx3-q)T7==N
z`lZLwDvSCtjJBh@qn5+m^1VFT<u|mGXnPRYnBCmG2{Db&t&^yQ2@eL1OqCy|D$KZ?
zVL1#lwGmt9uiwI7aU9AGq7;+N<R;`t7O126f)|i+3}YmTzME}&%Rz~H2T#toxSqNW
z&9V?~l54qT=se+d9+k2sWt=*)>Qz60fVbOT6T*dVBa7;$f>tR)$<0K?jBs(MoW|Gk
z0ZR5$@;2&Bhcn<+g&QYCW}Chnr-2`>3i&>&b~uMBcT7#5`sDuHWKfnEn=-CZsk^aC
zoxV@j%RbL@cE(K&;HEF%PW@RlOla0IVw$>+P;{*t%2>ozLb4f-_xnHPEqV2)Nozfb
zV*ha@kXzl-C-tQ6;7RIP{3jvDNtCNHL!Y9&;pka|S|knomJ@UI34-xI!L28amEDm<
zZyBvZ91#5xOb-h#xhY_0=<}O8JSX`s<ZtSV!lb80CXpIZg=JLvY~qZS9nr8O^;-s{
zwmjfo05qV?Q7ZJ^7#c>)Sk+&Giv%>xIr#y!dHufAb+7Dug-W?zFR&_{UTlkU;9<CT
z77OK|Fkh8^FkLj{U1%RBNM$STBD!u~0uxrnL%B~g)}REF#!4!}9CiPDjO8hG2rQ=X
zl5>=7H@?2yK-K8ziD>lYJ0E-ZTaVpYyxrKHJ0E+`TaF!LJKo(iekPhb*WNh}#8tPa
zeT;pG)!X5~wcvd=ahoOO7iQdu4eowRRBY0OvooLCgiAJ}hpG-^^YvCaxO2MfdrM^4
zr-Cc>xlP!NjbelP4S3KN)WpNm{8<1j%`ZjL+=I(l)4Pys*mC6u=<oxKDeWQz19fKC
zfaNuJE89*mtT1e>+02gC_TZ$}tggAF$@#8v7QTXrT{LA^^-lef=AfFU6U2la=?~aD
z)*te{KuwaGmG7s7)>S@<q-e`~2rf`^gc7nJ@*E{3y*Dk^er~+7C?%ZB&>?^gUds2%
zvT}jV#%BFuv)!5bE%e}%CSVoA+IgQr8r@?3Z5u0trB)x@p0=-|6U>%%<Xcj8W|VFN
z_<y46OIucFKwI**&LRi^+9nmfIghfUy)AWL&&_y#P;K%~y+9Ky#%@pLXECwO<YPC1
zh&(&<2dMVRuhrPxP3Ve%6EJ@u-$cZlkwKrGS(zN&(-*ph{-!>(&bM0i4NfaDuY-q~
z_Za|0U@$6n<`)e)w=w}Iix}9rq1Viw`K;E=!!fiv4@Qom0K*-oui&H#6HIN%$Akr9
z5hGfZ^4=&mC!a^}C)blm&w=GWj<@^}CB$f9%3o}>O8qTK_IMD;>Unqt%6t)CMa6~6
z%Xt(9ZbEqeDc-|urrmg1%IcCgvIKvQ4-^UEML4>_J_7s)a3M%I@DsLt2PH^u)drHq
zP(Wm3lAVSa(WbDbK`!ffL$X1*14J@BkZO`_Sagf_0`NkI<%%CSmch$s?>cG+twG<b
zG7$7fgAraH>4`_cLSgG#ga2N$p({vR#Gzq+ink+dKwsPZ#V?B!v<vm>Olk1dtssE~
zkME(SkFOdRtygt<*PV~R%;L<wt{-83QTmD;R#sZ;MEiA8w#B4UP|QZGuUu;M5GBl2
zC4$~f32{$oVtWe_95~9M4X3lc7?4-n^b{Mp3F$S;)#gmq-^@|j@>024FQ2cg4a2w5
zrB95ZvBQ~z_mt;<8xophhZXOBsf9L^gWSqwB(EF0EXKlk#cKwhT#kT_d<rATrzts$
zq{5yW0QyVxALhb3xR639q#O6Zd+cJTnb&q{ypN1Zu><Ot#sibubs?_8$ZLVQhjx&#
zF7g{etY+5`_5jbA2#8>J*>w<<iM@i5Db=kds1AEDL)W^nG8bd=3tUcm(ZSvo<(yA(
zUaO_4q<LVZjaJKSY86Xq-0F+mimV<ucF<;QWB!-J4qW;0$k=y;ABTgiK8LQ8AGH3*
zNJ5S6E5ZUXYzz?sOI-B4Hg9T_ktM@h%*g|INm3k=)=?5G^X?*y1+rYJBF54Wp*fA#
zl6S84vFA8G5<1v)swfOW{TK}(j?u{bsGEC{gySe9ORR!0v_S~d(WjIvCKUT$pf9SF
zY-BHan##^lLZ10%5lHpJK4%fQ`6=oZ|67y#q>+bGozSgYwvmH!&FOh#0#6Q5R7z4o
zr4#yacQn%92AfZg$-pFi3>mCHti;NLfnGD#*b5Rma|h)~=fTVj@(A1^Z&Dt{Y68Y8
z-Z>Q+tEO=n-W5W4kx{DtKJ3x@E)23x23E!399|aLqJlOhv{_Jbxg~-mB_w~_?rX-p
z<!W$3g~*8PI8)I499q-H)&Lzq32abpePvgq2{wJPff^K18c+k1Qq(w1G^y#5-)qJV
z?c+{Q?-@O_XZ2z|yBF_4YB5i<IZgDCE~RMC?`_*Bl(9y;*qYtdDaHag4j87NVF$3;
zhZBIUKAZ%Mm=(840k->a8Ze?zIQ}rZ_L44t5M;XWN_(U!vZ&K)V{5r?@&=F9yq8Ml
ze+=pnj#aU!X1ZUN;J)ZM1U?tZlp8+@rMxITc^)|yLN|VP5kXAfFOJKDC=Bi8GmGA$
z=jPh2c8P)(B_GEpUP-Doeh+;}-l;rJ3GW(d^DKD}$D1hLzVNmoLlpy8IgC}C!dot;
zlvE9cXOmQsd!uZSUUHo%LMu;F@u5L-7*Lp&9wMimkMgd5C-Du<K{K<4b8CX#W#?Aj
zw7@;1{|;nsl5CBU)>rZoPmOjJS`@h4;KY#jO5<Vk@qPdxGCl0;;jK0s<ke{iF@h2B
zz(hd(W4Qn)g?>GSr7-4hrj%$D(TO7ETT_uD--?Pa0z#NzV3RkKBjqi(TQYcn;?@rk
zHM00X10B+sG5uSw54Fii+t(e@UYKq|_9RUamepDc$_t@IMWNv><LThYESTS5Q6ou%
zd!hU1Fy1w*hB4^?f%Z}XbWdQREVil#wtA<u1tWr^x&>na67!oTwMVPCF!pE*Iv__u
zRJ*k<1xrlrMr)%o`Zj`ZS3mrE!Rpyp&3T>d_Z6pW&mi91i(l2R8dt4(Q^dG5&ZW*(
z4ee|$L1Y;1u)HFE(SX&ogwsnl^T;PSpBG8wEs^RagG3E6<!%!HhDg6+!Qv-sscYI=
z8klDAWUuMhj2lF&F*>qCtFc#NbPNiH$<6VmQ`WFD8x$RJBpJpXM1B&<1@Pkwxt<<q
zYx*^~H#dyW8JDoLU^d|(d^<EnD<E+Cuxl<s7<D=WApw7~94K~T!Ac&b$SMvF+7Ca0
zh5Z?N*H#WhqSCIn0<vn;N9!#F*ZhY8M9puHB6Z9tzO#qfLU<6Z+YO)Vnl_~&j~ze7
z@{mWwf1!{1O=H9(Fop&fQt&Bs7aDS@Xv$9llrK}lqQOdnMw6dG0$Zl}<VC=k+}eU2
zg^`(nj{#upjsZJ}HXg#Lk73PFP@c-8I$#UTu|H9G=LcBJ&!RINGACAAt;ShU$a9lI
zmM@=RcNL!W{5<@O{v2FWdP~?gUBx%U6=2lo2z9b$wq?AzSKs?40@MqwqPhM(l&!O#
zL<{)p$6K=~C55v7A|+o(f`SUcO-jfD1EE-@Rd3<6alTrwhjzOxfe`3Nos1+MZY;0k
zg=44ciYLE7CApFK<Ta{`VfR<=C=ZQwIB}!$+TKC+CbSC9u`uycyH)Qjw3=apa{<EL
zA?X}GFdwce>&3`EtWsxJC>bs<(a3d{Jc%A~Zjb`&J~PaCbwm%A5ZzsN<1`Kd_7YE7
zi9k#ddD!2lse9%b=6WY$?4v~ZW2ht-1Zoow+r*p3Ei1lP-=`P!eQ#Jcf(hU!Y+o$n
z4ck_+cH6MXf#b)3>tg(Tct#d=jo{EWld8mMu>K#Bksj8o#Fy7h_;WLq!Xufvs<Cb|
z=Pf$?z2XE$V5+)R=v~%Iu>e{ZyA2Z@Y+)|~jl;Ucp4%b-#9k}_WI0&?4v+w>(V%b_
zDGbLDx&p*%YE-LO@{9P6T?hFIK%w1X{{eza0xC}+!IYV~hjiaYOg$nwSsy!Qyg@ra
z1ib!h<z1sHXLugEo#Fw%e+Qqh6Lr`B9SLj9n<n!yb8wglaO8dwCr&=%DKuY3S$>cp
zj^o_`6lMk-Tdy{~o3>(*Z5GWngLZ%8dy~3g9?H@}4>2WrD>Dp!$;Glix8vZaTf<H5
zrsn_8`GDO+;sg1+l>8ngOq-25`O>zFeQ<QKXC4_6@ixo-WAwh>rsShE4jD-Khe)uv
zLp(MvuKWr$`Xfphqv5*cXdy-iZQW+&rf!ENba(?DZ}A#wNg)QhPu?*+L0D&OHDKfd
zgPf2&A0V@Mnse(Ml(~q8P|NIB9|z1^UziIP8yZ6)KcH!t!12>@J_PL&*5nyz`pS5O
z>7W)Uo<`Lc6iM4KiU$BF6gfHq%ZBI(yS5YwnHr#a)0ks=BSJLX4A93zYY^c}18&AQ
zzO1l)aRl4JkwL!>xYE}8&T*ArLpMNlHzC60WJK9mJw;W0!tzF*X*wiqyrU4kvK^xR
zIv`3Bvn_}Y)}7XIGf{`6ROp$KcT5BHBBZG2&D6_K1P+HP3bkt^sO^kad_#*3nB~wR
z>3m-9m+@@?qq4@KS6mA)IL8+)kfVjiJun=^Abg21ZA^X%CD_QKMD24>O2;S&o6(Mk
zu3R9r$}lcB^aHVR#Kfao`qDv|VG3aer}G&VW(X1p^*YaK6l@rLODz+)q>(@<H`#m`
z<->6YBlR}-oum-PNUzC$uW`PFkwQ2*wS=n>9C%HxAwSr9r#Mub5wSgeHg8_&rf@;x
zd@qf=O=<q>A-+Jt*FbQrp|6dpD<QZHl3N=GhBVI|H;j)Py=-qR$alwZY=w|A#@mM)
z8V}#{wm%IRmp=Gf#=d@lY}-R8R%*0cU%*3u$8dY0g*OLU!bJa|es)HMzQ+1_a7UFc
z77lmc>Wu2c^yNd8@GhO%jTw(bBBZaQYX}q=<G`?+sk9cQ@0I*E*+X|H?hyr^UoAIF
zxMDF67t#yvpBXxFxU_NJhqK7aibB4)ib3Hz>JS$p(t`|ebdzd(PjLbHF=~suS?bON
z2eRF9IyoCf$#=)8#fBnvJog;U>Lb*Ly681`Hq`x4-*S_J<JU@bK24%?5}#-=&UC~^
z7bvn6E4XDD>c}Ha<%m(k*@IhW^G=#BS4?47jW=rGAl`CtK!;eu;ADx!PYnU(Kz{lL
z5hTShP!6=fU=Hkt!0;r7P|=jK*x{rTEI3W#r((|+4gW|VHgRe~Y(>Ir5i2Pl@6x{J
zq$&-}n#IvR#Fwa^+05#nzG3DX$ApS;zK)_8h52E~T^aBLhh=AZfhgb?9SP8++%#5)
zt4?9}=O$=jIP21Zr}}1-KFvnq97Ub4(gKi1qGJJdTSeVe8Tv;XKL}0S%H80@(nQGK
zu|7)z2#B0;gt70PMHZV~>q6PTpkgkMqhzx>#Z5SBP%8ZeVbiyrBX`?WC3bD+=@u{g
zOO^U+wp40uz12n?n0N;E6bMlONMFST54_=0*Kp#66E2)749=X5xs~asn)Obh0xJ4P
z`UBwVO0#g@E8rTGCkmK)s{j|)FJSk$zi5TYDlRW0JlCushF&W1r=^mb=^W2pN#VD*
znYCRid6!D1zoa>nDb$GVN6wa2^%hbm&~h*{p|3Hqc~;wmz;47j;I;Df?97qECwd19
z%Xl4`e&0O6&Ink(Jk0QQj$xK>Rt&Rzs}k8>(FyH&x=9_V>9Uu>7W^ri?BEDU7Ad>k
zvd2q^Y|2vUn?wP!h#GcoX+8Jm%D@xpx0oxwjjl^J%MGto3X`Q$qa_yW1gA@-ON-^Y
zs*(58P>&%AowjVXu`%t)C#Z~38e%v^j<@h^;@R)xv$-;TLE2tkreuYZU!&wVDES>q
zzDmiTQ1Yjge4Ua%ql8Xv<zG?q4NAU6$!nB+my)3@GIW^A#*twAr}=~)jv@-V_ZWK8
z#1rp7Hs1Xwhc`bHc#q|>+5MCIouqSjE;)H$KAq2GE&eyN_hwUBGiP(}6?DAekGT!h
z_8&&^;9h%{!f&)$74~(D!)&<MekFq&?g=hWiWKg3)2{$<%l#_OlU)jIkA*fOA}7jn
zoh*&)P%=RY?+9pOI0h%Z723i(F1>P?@GFRQ$%SfDiLQmp=#O9$T|CNLr|Y0N%~!#F
zDCZJgio_uSsZym~tT5&;VyV^Qe;*&qe?Wp!+5XYca!`6xmw!zKL-G^Ld}knnW*SlH
zl`%D=;jP-2=o{J^%P%3>5GshHfF2gfqX4?rh)4q48y36~9B_~^=*GJCJdA~kQRi{=
ziHoKPdq$zgn=lT*1<0@e46k(x0If4MiLTg?d>JqK+mw8P3gT+-KV<A1D8(-+DBx46
zN?dN2uTo>0|IN4}$Q3I1Bqc9Xauo@#Od`Ns>5T9vv1XX09hq9S?-Pk~DAaJ1(PB%{
zkFSjPi8X8s&-w4ska+<+!M`E+Zz=gZN{Ha{M@Yg<Ut!|jb{$G{C>%eaCWL|f9+KB+
zXkuB%&~Dx3aM>1?CTo6-nC3wM1D1vjClU)2j0?sF<I>MHsEmHHVMRaL5Oge%4%0J>
zjYg-h_&4zHX>`haAzV@~i|V4kJ?E0)VLmtsK>a>|u1}P3xQ)9hmOMcF%~f&))Irxi
zx_^Re4o6XrUwELLdAo^2tBA*oxP>x_-d0XM-vOCgmtQz{!7D5v$kr@y=(nH{D!?WM
ztyZB<_h1he%1sz6zaZfyuE1`=YTbYM@c!oy_50wZS$X0Y>(a-MW$N2?`M^kz5Vrx5
zB<XVb6C{xk4y&kiWTknLi6j1v7MZqb6z@~_T@dYqi$^zK7&2CNj;_!Dy>QBZ1a{kt
zoct$LDN*AI{*bamex_N%B0-o)0siN0MQP&%qxN&~__mXwf7v()56ATUXH@(v4MN(~
z(eqhJCB*_6&iO_BvIT}y60hPCd8=NBOGUrUQa|9ZV9zh85CVymI`=327VZ$ZIM?nh
zELNun5TeOZp}awjELp8w;Pnq<&BaE$Bd<{}ElS973HL_7iI`TuiI~RTW$;rj{`G=P
zQM=4yP_6sZX#EH-5G&oAp^BWUz#gXmi!PZ(u{)-UWveU}WVwAoj-gcMC>f`O6bX}I
tWLX9j3!S6Np?DZn)BFQS(m0vKnKx2(a+l`20dP*t?5}I|e>At}zX1~fJ2U_Q

diff --git a/simModel/common/__pycache__/gui.cpython-39.pyc b/simModel/common/__pycache__/gui.cpython-39.pyc
deleted file mode 100644
index e3d2eec0cf43b5705625320e60c390beda0861f5..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 10085
zcmb_iYm6I5a-J8tLoS!geQ0+j`N8ukK2z4yKA&x!W66>%*?_fYoYq#naXcQeXLm;$
za(F#Mu9lX8L+m&~aEb)vkUw#7(vJ%w2f6&skKk|!5FiMW-2Vv>TpmEO{|><+2z;=W
zud0W`;V$<K10lhFR99D5S9Nz)SJR!EDr@-s%isQ`c<Yp={X13i9}|@`_(g}22u<jL
z*3wrEoytaFwyaf4*Dh+p6xN5Dus$$W3qrrFH459n*OnW4GI1^prC7PpBtZU?k^Tvw
zp0=tBZPgI^swoU%eyj^i6g~ubQ4|v&Y9MQi67r%bi%H}Yq9Ue{+oCF_k(a!(H@RO^
zsi=Kyh#4`9{uMDN=FvVS_K5}LRk0|RkWY*K;sElRI3gYr4}Yky&WK0Eqkzncy7&t6
zIq{hID)M=8Nc<Y|ed2NPHRKE83DH2lC=QD!kuM1Y6F!=l7vFf*{eiA&<$C&Qg~B^k
zkGDErJzT3teyba}u^+aN)ZL!z2kzCtt1Fy$rRN4mW54Ac_1438kJNL3AZ)t9yGJsr
zL>$eXz}*@mb4_6$tFLT$b-x{Z(rw0m&#Nos`i2|TV>Cr>ON~21a?_7DfSIx}!tGip
z>)s8w)d{>KOo5oDDUBIqgeG@f59={Fx$d{u>(NHo4MhDanDF8{_{q(aCVp&${0OZv
zV-b0tbKRAo_$z3ql3{|hD2vjIyRzLhato5mv?kBt7hOeiQ@^P>Sn^19VIVa)HHC??
zB`l-`Q9xR}sokBpr|BAUJIzaJUQY8#%Hs;H<`0P0l+dth?Bx}S6{D@=htJPXUuYN%
z;AHy-U`hFs>$k7?Z4quZs)<FiPs)De$Zoq0nI@A;z2`kFh@`wGq1{*8O$nra7`B|K
z<9Q;PL<b?=^>yk|4g=wYYirO!Qb5w}Bo)paERU8KB~^5HW6#;-QKMu!t#7z(5qJ^^
z(u@3lh9F6HiP?<T8b)G8Ua%%70J*QpeaJq2=J-a~@{Vu1TW#-n6Z{{4&2L@yTh8m<
ztAXD<j-7D{&;V_%R@gqi-t~`lwi4TM{I(xEP8CF=14uNzsJ;g0hOMVxqhG=9J2vRh
zB$*CAR4(Ahdi@>>v36HiTDgYv=DHyd#o9GKb?D5wW$Ie{?VB3fifB8NwoPPhXSmHq
z+uK>cQrhnjx0TU$BkMP4vtvt4exU!hj`0gLKCghv@~2bTuA}|DT3eCs+M3^lfatsk
zrT<Y;)BOL1j2mWBi2XS5lES7h;*F%Z;rZ(u@u$;661>#?{{Z%<<>4veuVHC_T1f$n
z)8Drow!IsE6npKs4w>^=^p!?2F-2!RTLaAyC&`VN6`C!Cp6_jTLK!Ee6`XD_OBu>!
zS}h^rxw5kba`$yP4{7rfP{{&SNtt#0qQ{YFP+%D<wI0~U9=U1j{Sqmc$&YB3R$U1{
z*6jaaf=aWuKYE{JY>)=->9<$0@3d<celSf)i^3osr?3fO?t<BZurs{7CDh8Ia1Unh
z3bbb7`vI+z+DR?yoq#6k`xbt?TECxf1y7SV^?N#<6W4GOTsNX0b7|tbaYvVbk5P28
za<}x`8^j;aU<xxh#WmuhD$2wK+Nd@yCUdo#sO;i!_M~=4j}GLy7~xU1pUSs07gJxr
zMKw3>w3yD-YNECW7kBfcjN#%Z`F57e49O+>w}G_onDW1wyIJOLEtAm<Wb_=>u8~w`
z#T?SP5iQTN=2O_Nv5n}3{McjK-_Ex)5A$EZ!@e)g!^r%{@bI%;JS=<x4~t)t2QxaK
zA7d8}W+d|MEQh5p;9>ul=Hc)1V~pY9zw+&Th8|en#^%>x*X<_E)_N$nQiJ-l(`-oZ
zo7)e7AfL#RhpF@kl4R!FUes-QXS;D6w&6LoJkT*?cfDb5liAq*BT8nG08pXwPbpbc
z06Kysqmdt-)LwVH(FiS59wC$`DLIOyVanrFK1Rt21)%=&BqdK#vV<h5bb>He_Sos6
z6S2PiLuw|(WG>(AtaahdcnwQU@R<SD_60)CQ*uFx?BVwJDWTCuD7iyQge9M+1lIyh
zK8vKWPd<taCWxezOmpVIW_Msm+HfUWy_bR@nRbOp8IR&E*s7&g?=ltMbft5F+>>vI
z-L@b{WV+R3iJx<0=UfPv<-ktVv$#8W@-lpl<Y2B%xkI_e+@Q@cfHlIP%kU}Ag@Hr)
zSva8UlEzKSSK-wt29;5>TRo-yWM;q*dZi%HQ7mSlSHhkr;ZiN`YI%v>?WEG`z2>*Q
z%bxVfmumH1hboB?f+n>=H_VwDqGZ3q$YexlSJ<w@86*?BT3HXmt8S1oO+Ho5piZMo
znvCuu(O^!ix<w}S^P)8-e{jYs8w<dpFWMhi2BqiC-H@dLPL9@vg6e1KhHiaUET|C%
z(EO+a*eGVdmYH%jn`m!~{>jjyKcvoj0YChn@xDHCDv%XEoIev_9nH+nTEc{#U4adO
z$If>46iy`g?c|9I`<8k8uh?=>jV$j|T$`X<Ci>W-lKKi0VhZ(=sNNdq1$;6(KD>o#
zQM(08kFf@nPw*Tj1*{drD*~2E%!@hD#qIP~VTb>qY_pZ8JTh<9ekk9LnODW6SWxyD
z{sHc~YL+}=4R_u}ao`r+KW4yLO&nBp_DC%85Zl}DvaBFA*xNs4Sv`!KG0W<Xe*1Bz
zG%FsZTe5fz^7{qPYmPixV9(>XPkfc`%&FuEvOss|9T4222avmqXq^*>@3CKo+9C0z
zIFi*G;wXF!<+ClV<FW+oW8%0tK{5mN0qmrB>K4Kg8Kfbe7GK|i)ez4Nupp~r;v1>&
zQWYn~vsw9R@myAZMm$gDU9vZ#U+vKt(TGI{R|RoOd^25jN0`r=cmXhIB(44Wptfr?
zGpdei8q{7Cr*}|01K5z-OM}`NYCAoef;cPArPLltxj7FQQybI&<2*NPg<oFoKf3cK
zw}#6@bo`PR1>vzcUSkU=hqia>9NJ|VsN;Oqy5zOHD=<+MY)T3Uka$62w?n5Hgb|tL
z@&;~0ee`jIq`;;&nc*yN!_ohB^jAdS5Cp+h9RB_CGHx+-z8>RPWsElnjVyCRmj{vc
zD=Ub=)NvDaw@%fQGGD1*ZFjn{GMZ!)8wEwU)biU-&ked>Qfj$3(&Cix*4%CotE%Jy
zo~BW7gVXv8m;9y-qh{Fgo4EkXs(sFF_uT00MKH!wFLn^nfJH5;2IUbHVMXEH^s8@r
z8-5d^qll`}>QqnFxi#`nf=mAnl2nd7GfB7Sew6}D=;n2z`V&!O)$Tbr92Ymhfk0?*
zqL2HbA8*y4XdRCl39z;pt3Urzv+3df&p|A1edj4qantr~vPAw*A3S)#KEw7eQA#R3
zCt^eBz@=KX2eiT5ZvvaA%gRXR@`wXJ#28{F6*o_*lIJCv%eSSS<=1I|Z&30aCErAn
zOhzx0(s%}|<zYFQmacGR&P^yWfGl)kw_ND$lH2K5&p|Fn1Fz==^_JU7rjX?NOt!)v
z{F=*64~BjMo8i^=TG(GmZ}N!zA!3H0RZ9(TQ)LCKvaw$|R#UWH9O<p&PA(DuAV-Qo
zNr_z+Dk_hqr~)%dfn1tSQYOT!?7$|)I9y+c(^bONK4x!AHAfw{=}ASC?(<2FIz@pG
z_sUrdLKoA-4O>N#rg=O+_FBqFD-!9TQ`8Z$q)n#{$0{kFy~w#m9;tHvsN@9Rx(9EI
zu^B)MEtzQbe&eOI@D>*+Y{1LQ3H+81cZglN06tKv?$ilNDucbna@gSn)u7zp#V`6X
z5^{nL8|3DY^MUVY_5?XQ_<mk2z)5*<$gCJuV6k(e7eBjDtiTOYxW!UUuNq5P-?BZc
z+i0~P6wQ3f4iiCigIz7O!{N%;Dm3B)%ToDy;HKQbi8_{zXYZ)>XURnxjlhjKNpuX^
z_;J`npa8RvfY$9-_}GSVM=(oIoeu;lDeN(DMNpf_YBp*mRU0|r$)S34*YR#3ZpsH*
zqpVhIEsX{a7wiJ9j8=#nkb_`l+es0U@(`BfaS)H(g#%c!e@I8-ym3KqKx#^nO2NtE
z5OZ_G^MVWyJCWF6pgaT_?F>WB00uuyi|F2_yk=5pe=aBdLAZ05^euE@>A!&cAEbyN
zF+zTS6YF;oA{OR7GUxhT4k@N(3veqf8{~XuI0Z40;oy-Y!ztx(N;#ZT8UmuRCRNCX
z#~PLqW)xEyooWsTPbJw{RTZeYqqloJ0|Z;-FTP*~Ocg!ObB|eerxWf2M>eHw!japT
zjWU<xWN*nRhm~fuw`3Nx8SO2Zr3_~%4KpVtlFa@LXK%?IAe{C)Jj;War6EtGvmEO7
z%g>TWZrgD|JVaq&cA6euX5-HOf&bT7O$}q)My4VGzlC+?)02|_78!J7`=7A#RFj7$
zoQ!`!7%eo)4JyGGCn$#zIJpk!Hl2wB=q;4xLzJ)^_AQkBCcG2&aDc?^6p%=Xb8sUq
z`~RFHpW@Icevde&Xi9%3A5*5M3dEDyW~noyN{2n$6&1hc!=LLakj?K93ZWB5@-dJc
zyL)HRV1t?H9TaHyR_JStPitv=O=0bcr}|e%u&RbSjz`}+=#`@b2ar<tMw5b1gAa)%
zJDl67+|-4>U%P2gx`;>9gWCJJoeGm-NK+U^obl3h&7iw0_fR<IP3s;V;sj?JNU1Nw
zaUZ5OdbPk!h!<3GnKh}xNmnqw{2CHG9F$^sjn~^=6eZT09|Y`K!JFlfPL=Js^qR5T
zhW8-n&?m9+48V`K@;xF^P~rSPB$^aHN+#gu;F0mhps=;$j7|0t)#2;al?`b6?8Wn>
zH&URc&*N+9OZbvuw0_y&Pp9wLUc1g<5;~v3bh^_{#p5QOAPBI_IzQAA)Vu}(;hBye
z+stL&W-C~c6vtCDpT@(OT7W97qo!U|uVZqG@Wz>skI?Wfnh5Edo~7vZqF*KUhsJJX
zVGzHW-8hR1@ho3NI#?hE)CxskGY?`>Fq|Mt-5Gq1?7M;IN1Bn9Dx398aX~1Fr^bA<
z5=-<5cp0}KPyPuI?wcy2RE*%9c@oZhr{f4Wc6aDb{vMFu$W0Iq(bDH56NIJSr4*b4
zN-1Pj`Q?;X<$YuM0=x%iZJacJAJ}ixVANmJ`!hp1rj~w}C^PlbSw;>JD;{t0c%3!o
zS%7%2O@&0aFG)gLe{cRr7yq^Y;c47IXyMC`DVe0?2bApaD!&JqLwu3q=$PqG4>@Ds
z;y)F^`1IaS$*-X+bVfdcDNm4IEohJ+&ua!fD$}+{>k=Ohq<Ke+@x-iPALuvr>zaIJ
zC`?+%JePm`2m1W{G~&KI1J?H>Htl(AI}Vwe?p3<mQ4BG$nt|WhF~MZM+kx^uyt8^T
z_7P#E)k0d$+@e`*(OJE}MDyMYnS{e1bR0gRlS@8O4CbViVJyox0Z+xBl-6Mn_!cec
zA#dzf+eE{)+~VMu-oaI6?-fWVj1n3h3)y?Cu}lF5+O=x`PvLI^o6g`pa~uPBBFFZK
z$;hVb06Sg1ND_P(2ieM`I6kQ{n!kyiPuu)iQn)hw5Cka^+F@R3zl<APMrim>HnfSM
zr$`mq?QYlb*%llx0C|^2%}Zcfc(`tcTZrVVm)<cuG?_?|HZxY}yqhFe(w1F}WQW~j
z7;&hH9S$-(#k@}o_%Fl?P~~Mxo<?%t$|-8-I&fS_(tjhyNsRv6K@U3b5vR2A>2$8>
z{W9^Yn*JYHy}+!l7FFO$Hi(%&-;1L{hhBxgyMrNKLfo>8pG=2zxX}`lHT<=N|FqD?
ztu42l_2q#se?+7I#U3n3iH6_FGf*~^L{zu{hx0vPH1^Y<F4}maah#;=;4UY+0hKF`
z^PR36q%9K;?srYck&853l@bd5NZRp|E>@D(9^Q$%_{UIE;OK(<V}g^}WYZ$)$d`1!
z${$ifn_T`GCA8q>CzSAHcv{4L?&#uEdVyfH*U00Fo<L&jmR+5-XYDuazCB^Turz5G
zk(;(v<`gx{F4zU`g}*t>Wq(z`8czSTkd(4wdOmbxKZuSYmU9;OQ2wI}_aDbjV!xmy
O_97&$4hwjs=Kleg+%seV

diff --git a/simModel/common/__pycache__/networkBuild.cpython-39.pyc b/simModel/common/__pycache__/networkBuild.cpython-39.pyc
deleted file mode 100644
index 5c11a78e17a53b7e8824777653e8fbb97d939d15..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 16692
zcmch8d5~PkdEdL{%{@DN@8Vp51c3p;1$c-Dh>#!wPy`JwDFW6pBs3mOzuld|9J@Vl
zN$mKIBnMCkC4vlJsaU3!*_16CabhQqrR0yqNvYzpb2+vvsW{IG<JdV2J8=}*sZ=15
zo8PbBn_~wHshpUesrg=Culwt-zy7Z7DW=m24WD;^>F2~(98LROW(GeNGAA`nZ~90G
zP3Tpvrss8?X`^b?%)D8%@>VU9kEk-UYS*Iqs7hPaSS_B9*An?eEtyZ&Qu$OZoln;?
z`HZTMR7Yyrd{(9H>S%rxeMYNewekFTST>QLM44Tks!bc3uGMDpvtiAS+Rpqgm5x<+
z*Y@Q1sC2x#x3)LGSJytQiG)aA(?s&Bk)J~@CDO>Hk=ut{MvNdg;_SO>=JyNxyq3$}
z=B#tNpDfnv4Y%l)8}(++^rNR54Jj_X;3tG5)=JJ9vE=xPmy0W5Io^n!U#XVs&LgLD
zwjX<GtzP20z7@1wXvkWzdahV^{Ol_qJ@eYR=Uy$GK70Pca|@@=_^EDdRUf@jJ=a(&
zm(XS8BWuo@vw)O+VOcsw!Lk)uuDcvh6kW$H*PIej9{iZdoaAEdLc-DVy3q25(1jt)
zcMM^P$Tcf(s_91k=#tZTvDjR0CET@@s`EPfzUW&Ejk=RFe4{LUTRQHVte1>|5t!!h
z6bIRXgr|F2L38!18lFb@G=+9vyQMGWEIE!gzS(qKKjMILO+Q`<3Dm?eR@132sy4SY
z$?onvb9A{;bB?}MT(3JvOAX;1Jy))sFV_mMu3f5@OGlgK+RG@dqOMkJ)Q{F3_pOG!
z{QO$ED&|+#{aB$;u9w|HVG_MHZ2(QT^_bquhSQzzHUM^PT`$(0LcvcI3blq<t1_J`
z6js-Y)u2X_lnS>2u#;t@02BB%NsySX@^`IB6m=&_th_$3BHx7-;nx(_J6IKAUyEQ}
z3=tJEtW#Vhuuc~8Ns&T6Ei%YQkRK6Q<VVFA@;370VgmU|F@<~-`DrnO{H)l4d`#>V
zyToqf_lUj7$Hko3cTLMD&~CrD59RlZ11L`-|A07%{2`G;K84)jcXaWfID%YSJS67v
zRz@5Z$M75hP7jMm@O@M~CO-6zEglz7pj}p#v+POC=qYg=WuxesB~QO&iWB0`p=3;z
z@a<>Bv+qR2N%0&?#|KKEN9ieX8l@8hrDst3g7`2>C&NBpM4xBHODLHVI=1gQKeaHx
z3Jc&lSIRL^pUaF5Q+&SIbo^w<FE5m<jvsAYYBC|YiX{rV?uY3fn?H|Cz~-I-Cf7Za
ztX?L=n+jSAMijIajJh$kA>t~R;C7H?$XrtH$3xyna6iE`fFG$sJT&DD)9LR1ph#%?
zF*lG2O_^qGlrw>B@Z%vnJIz~`oMlf#9dkDY9IKd>T+CmSbJZd?HpRf#zy_Hdq+f5B
z$QYVqr<zV#1au-@x*w+5K#79~kZ7emtpaMzY9GU#EeMA7IURyq*FFJ-ab7#7U_c8a
zn0)NJob@wOHe}8SCh{Qq8QN<URxah~L#S(VL`^sJ6uzyAEog_$WE?Gsb@c<l`T+Wt
zN7MiT!t*THN^gZQSMX8PeFucuOj1q|;mQYqF!^c=!pF8jI0@2qwb4^|Aw4rp<!)1%
z3=p>}9|Wn%Qd=;8WE;#!1~4ZrpS=tFUH8IXkv<j9!2KX*aBz4Ak8Lx91ZEKG{xf$W
zKRt|m*s?WNEjQiQ1LeI~Z4}*$7h5CHv|$nT`9-i)qU6+FN1lU)a`y(Nf{fs&Ht_RE
zxY|{%ZFu@=?cyVC(}l1T*v!J%p<UJ6mdcyGe8e+4hG%(^MPmaN;cCJ&Ad0O830<e%
z76eS?OgV*zZvrLXEDDjcgN^ezOB2P##ShD}ID5M3n=6fSJ_c}Q8J3Aktur;WyX4b&
z@gw*(xpskq&+7OZt*zARcU>YP-4CS$tzI?jJ4m=%1$InDnMyZ|w(jX2a|3h`W*fr3
zVs#=LTJslG%HGi4Fxyr;(zb=wiF&qYZ5Sdl4J*}+d6BESh|a()Kt6_Fd|GQqTUpR4
z?nS-GhM_|+){j9jYL&$LmvpTi)3w%=n`G@(RZBtHj(sXthuYxt7=$KPA^L;{TuhO;
zY{*@}FSP-oO8i!PIgFBKDQeZzO^ReE>Sj748(JqTQX4P_Mf$VGthS+FRTex}E3@zd
zOv=&HvQxTTXwn#RmBFdjur>C*?YXlH7haje^P|t5`|dO6=kDl-TE??S<ddM=9sSum
zdaj%Wm$y#5z9b!|K6j~66&FLEoh#QDY5&q7o}<N9b{#QSbkW`X>qiIL-$@>L@%Vw4
zj~_Tce_-+Udz+h^xlupbT&?1TNBwB2QLj5CSLrz4F0ILCL&`%y09Ivf#a;JJ>>%F`
z#)8y$>VDL@;*{20THPy-R2USiO3%m<zGw&N_>oez(R5^%WoEtcmLG%Rut@7V7gt>B
zTO8dtF={>@ymShD9CwSCs?Guk=37+Ceso1PN=_3@477dS8RA(#Rjy+k_mrYS9>X<B
zK@Dsh(=9!LXF@kN4LyS&pT?$T7-VXF4lVel9gDAF>l2%;*)3vWuy5a@V8G6g$>Lk*
zmy4LbGH?bJHw_#UKeYpB7l3Er+imFJd2szT%`;AO$Ajb4j=rPMZP`Ix#eW_XXwKpN
zC744OXWF_8mG44+bl?Mk%Z#h~4;ZT!`q1y_N8k^99BqBGR$TETN@n?yCY&et7F>?`
zW4^vJOtr)bP6lLOd8Ub1{|G;=b!^MrL%P2fPImr8wNWZoo6jK8eKn`cPvS+4uS}&+
zAf1nbI_J<JpHPSdgc{P~BSU?!;>FOZNaz{8wN<eUHEt!&T$n#ob!w2mux)78fZLYg
zsFX<h?uVk0!U$!0vjxI>dLVMK(SL!<aPdoAh6*<Otk$+#V-&*3S+iWA2*e2-XnsYc
z9r=V-H;!q&HnwVGqs<gVj<H?|TSnV<&@${RrrJea6T;l~B3@L)Z&(y}o^=8XTZwdR
zk?7TdQ5J2HTr`!?&)(GQU-JxLlmdP+l}aNOccZYHV_sZjZkX+a(A!DQ=B9pehni1J
zj9`ZE_GXqE!a5DCXNdJpeSLoq@AMYD0~%yhA6bk!;%N}HBVgm~mYI#Z2`}ZPy^J^N
zCB*2BNP8@t)fmc0RE_S9_GjfL-ISO80x0}B?QLyQr>Au-=BCBuRj5Xmx|!>s!>k54
z1?m~zSYgB)>tr`5fZ6+~mjdk)mC??aH&z)Zt$^JG(v!e%95oZ(`15E{nDCNf3gSJv
z`mUEmeu{Ni_ZQm}tqgja_9ig5Nzmf~MGs^BWIzvh#+v{SOnQ?+s}r!Yx&Gc{Wfr4i
zJL}p_V>RX_P(SPGy|tXi$|Siqi&l3XX`Sb00@Zy-KOQ*l*qjdB_80$SYvN~r`N5NZ
z<gK!BmzTcyqx{5A`Zgr(lDi!G`EnU->?hSbg=!hX9+|aTqY$+6vxBb9*@YKg@$It<
z=g+)$!M7G=qvjiK1E#__J4v&k&~5K0-9|rSRbk{oZcwu2BC5R_Syu3-yv)}}p!mzx
zGQuRHz_5cK<2xMkE-6O)6+`OH(?}>Oc7jr@!=E8E*Te#A+#W)ofgQAAqTCuR-!QH#
zhiAhKB;74jsZOOIZ_{4A74ePwif_aEapVe6fv{dFmK=GOsM<wYtS>pY4Ea6G>g8K{
zKB4CJ-St*El!wZNyM+3m!cQ4JcEtFWrO)VNy8T}3$aeCO?$UO$@HS<)!Y&^pZAg{e
z4&dRsvV2KiWG%fLW!Xz*fh$dGuB^Gr8}v=LxFl)aDK{$=>A=;GsHsRAm43R^fSPs+
z6z^Crx)-lj8!qLcR36lEcEH6})|{UV%vA6VTC3$M)Yob<#|DhFC}%M@6$o(3Qt1Hr
z_L7pQc?-)e^3iftaUT<kRr9fO^_=3-e2gr$fY?#qb{l;9mST+rSz}?XcFB>Fo*bB3
zy^5#mOHx}fLw@t4)qt6$L}@<5cc1IqulABMWL0dfZ?}FLO(mDmPlhUjYx5=wnx6;I
z;Ks(N{JEInGlgdcCAMz7pRxea!g}8@jc=u*2~|gvfnUCrQ6)h++HKk}5#Szg8iw(n
z9Z8vqi2Y4FI-y3%D7QHgj+DW>F=b@1B(vGt>gWxi3l&O&Z;1vnq(NI+SrLyb)de*G
zp$HEGJII4q08y`_3^r%m@?cp^Yn}z0ID&cu_ORZzRXqfG8|nfrBS^)dfY=fibUUtE
z#?dn2**6XOh?h{1ZK2+vRG5k)h0sIC^kC(-(-3#C*#+!zFAhPMf|!d3>dH%3pvo?5
z@>ijll8c6CSE61Vg3+vC)LE(zU<I+M*M&&2?@nSvdlPvHs|F)c$z@=#GYvHd@jC*w
zk}fDUQs|D1k_vxNEtM?C#19Inl7@;I2{2jGprl4CW58g%G9jS8+{qcOpJSNsh6yz=
z(;oG*ohjCIroGXPK&<Pl7x=aqcPH;^nHXyMDR;)5b$0{`O^jotelDSuSGq9nr8_&7
z@`_+KyFj;eVK<cHx1rI%8k?0pRH>c4-WcdV4h5Jl%pt!IbKZ{<sJhBNZvyIWys!`H
z`#@)`6l3;KI};1C4mR@D7ClGlt`}s3CD^JeZ;G<?%{R+MKNI=_@F*y`WDU)fH1lyp
zVYpR44heGkY+X24WEFM!=xb+QJ@?$HGq>SXY~H3Nd`pL=580x8)BEN3u?Gg0<WYi0
z2`KU8pC?fIBvE&+xCL(Zrk_!1iVj4Y;c-xo`POA;y(t+t@uOkHj-k6|fQOQDRE~j)
zT4(Be3H}1X7YS$qLI$s_ICTNpS*(@{D~)EEj+2t7O3KP>Z2C5vrmDqefKdUV`cw};
z<Rq<B`7m2Wp$8eMQ6g4eXHlAYc1yZ8bCZEURkAce2}#j(_H?imOy`p<W#hBrim#fe
z%xU?<>@Mauf;aN<V5!&&g<+e&%r<c>9=tb<>1VnsJ*f9ngL(O5Xf59%P^cQsa^7YG
z;?r%IPgSaYi975rjD`~HRNydT$giQh=4Sx3P+(HD^2=v8tpsc+E-82?OnPG(h(vys
z@P&_t?>7zG_&;`>X$aEy6BfkqX3UsC9#7NIcWv4xJv9hZgd+kmYb%l4+OwUO?jyRz
zGMNRwWC<l%Pe8KLB7sz+MD0Z<LUVdqnbVfgVNRcf9K%5YWE9Nz4q_9Yxq+y{>I}*)
zVWP#?do3a`&=IeI1dh;|5RuEK{6kesxf=DN^2=Vd6BAL4i5w)+93(R(WDF&clU}?4
znOsSBQY^tJ*VNl^CLpV|PTEVLUD8W-GB9v40^2|u+c1=E%q8nZltBsuS+KXnq9GEY
zQxV{sybR-Ca?EkegChjxDa?bZV5TXRqRWwnOocN5O!q@7k6^|b)x*4(0S+T*KN4VZ
zQ(v8TCjyt?DkD6T%2<cd4qUP<7g0#u%!a;*h)WMA;M|$s(9r+K+gUGLnL+BM_NX$_
zXT4EiFcuo=JK(hZT4<#2^hQBtH~|<3t$IfK7<z+~QQ5_r0i(Zy-xt`Xvs;aE`VFH!
zPRWVqWP3`C0;7q_9?*0;OlOgv!5hSS3{Jq5H|@<p*M%6Pzi%k{I=&$P5|}Blw!Xp?
zMW0**@MADbxfz=>&$1@Vdb_eGVG%{_?I`&ZY-73WFoz;5Fmq^(<G>U~UMTw1Yp=5v
z%)SN<A!TIl^^G$Z@JbPOp*jLlQF7U6xbiB;R)YA4n2Hk6V-KY9UuWuP2$a#NOwTVf
zOKjD#$$-HAD$5ubl!!_J&q||Q_w6@})iuoVX_hOSQkl5Qu%vYMBM3Crnt_oy8^nE*
zPT;#=Kv>JS6q*#1%8{20p`&lg*1yZ7QLg4AutDoQ;q1m;g2T@9Dg?v0FVtD}0?C$I
zk<Mvn@l_J9DgPpSRm<`NO#L80-db9QJsSZ;kLJ?y6@qmTY?<P=3BoSF6bka@un^>7
z$!Ub7EUa>qinVKDLhKo|6%(-eDEeqa((<IR3hHQo;s;TdGP}ajQmrQpTBis|y&tpK
z8i6W&X**7#hW({fed_(Yk7S6<7V$<8fj=eQJS4!x5O9j^p9H%j424Z^AeMk_5AhbH
zEu<mPDu_k|zO83fqTTdr!i@>N6L%AxB*L93xM~b{n*DI6OXDmftQ&}$co7CgL-QlD
zaObJ*f|r+gs9dfu%`M_cxw*W3<WfEd^yTva2&39=QG)ontYRejk6A@UELR9t0sKs3
z&0PXZE-A;f8JG{5avdSAejy{2@<js1CFKIaD+C#Wj{&GHC*5u&oeohx;?N-Rjl~KK
zp-SGs&4C?kufR^elvY!^&{%0y8%yh_$R9L_H24r)zm%R)!9^Qu-`cT7U2S<$89K^S
zY{kUN(tI7>l#HMsphLe1{(QB#<QvWv{MLPo^$4K4izROC?k9!>UotViiiN^I&`)CT
zQf9ray{*4(K>9Ko8KbqW;*n8TuNd$SaONN)H_UJW?FIQ6bhL%VpflCcBzCvnydN3m
z+wW@Y*R>8qZ1CxWK-+cwy0Kw}zPr))-C-qia_X8#=$+?{w^rcZzl+}FZxQ@Ef*yJ0
zC1h7gR1R+It=tw8uE71Jq}|RbM+61$g>qS?o<J5+(MSnPC4C!0lVL>DPgI>nw{WSk
z20PINetud&+`w3@uG4kS#R7wl%OHJ%KBE7gSt9SJ`<)cr#b5@%%UZ=Hu`Z?v7ivv%
zpk~3Xgy?{4X<E9yIdoXuZI4;>$L)<);v#oHWPskHzky7+=toqPZR=u3)MCRp@yuYc
z(bhhx$&ahHa1j+_K;6@bQEhFwd|_Lq_~Q3q3}T@eV-AUK=z5qjHjIEN<bOaT`P&4)
z18_?Z7+~wNdjrcp6pq2N<GRp2SKhq6$*%u<5Bw*lcs6hsKmY%rE&m(4-HP;Q`$%Ky
z`WUDb84#uam9PCC!EFFPDa%XCA^+u~!@Sm8bNTyhoEd1`<1>Ya;<F_ACM3-jqOuDw
zX)vFmnKo@Zh9eLgHxpDYV7sB{ME`Zf4JiU;4}p@!zQPY<6r`O}H!c!TDA@f}CkPW;
z6`WGQlFLIaSQVUiPHQgY%T+vK8*812XQL&q*TDLP#R=Q<MK2~y1Z){!z}v!{(NOwH
zlv=8kmUk54RRdNll<?|=V#dgV{1J@ZmoQ3bfr!fY{4A?JM?iZ-?junC=+}`7kD`X=
zsEj%Y1jrP)qHuT-ol<ErunpCU_m&+IsDNm+B0f)=2lAiJ&KM~TO&(KveK-=-e@#MQ
zYY4pd3EmemlrAM|_U<Q*1j&zg^d^_SM|$j7I1d5ozXS)v?vXyKNKdmr61W;5eF8#1
zAbmoS9(lgqBYi@Vo^FSY&_#km-9un@!-mU&x|1-gdMbtYtq}XJz@>rYK*U{`sGsQ7
zN5lG<s!y#VKHrI}&`7G2@RG`nNp%obqNBx}o2sOd!}7zCffI8>U4=woBf0I8-?gu)
z3I9ZTYDgqWCA)iztn|>&b8+vfhq(OP>7hRp)V|tBts5*yNw6_)4J*Ridr$>A^q=v-
zq3d$FbQ#V{6DCHvT9yBWm6`9bgZ_Y>D>?Ru>?A6kHyyYjzKx&`!Y%U4tfz?cQ$1a}
z)Trmufq1(Yp9enG|K!WxAn2<;3P1Tj2-KRW)#+<i(*7q&f@5f*Ax1E~^%$rPbZzjA
zLHn{5;tJboUiOFW_z1^S^6%Sh#{?RY+thaa5)%FG=-Kj%E&B72b?{;*c+|9hB=BK*
zCxMr@dRqinO0k844HV<nmDkh;W`rRxtag0$y2?k8uL!%Bk6t#KpHek3)La+wcDxRM
z6^DgZ1)H5QS!|%x4M<HTGt&!yCLH-IeU5BBe3#MIb+qoK!hKza>htzxko5NV0Z6J(
zUtiBzx4+4<Um{ShKv1#d>mNqlK^Ffk!S?{jw+Q|hv!ejm9OQcWzX=ql+kroP9R+^o
zIdx!zD-P;bLq3TM3i3krJU#Kg!p<cECcYPU<W*peGgC3Qd}iPn1}ZxrtyE9Z0v+b$
zEcM7BVg3<GcnFA*qb<0HjINP?p~OwNlyEHQT2AP;K_z2twswD8LW85ZKfWVJQ@Qjw
z`lHD7IeLg&!P!cnM_ss;JYj%giJLp*HE^T_3t&pcx5$SE6$sP^1o`T5#fkQxE+-Z^
zw{67sZ-I=mgv!=K_ax7Df?NJEJNyhm0$sonQ_R+6!S4~=CioeG6zhY#E%zj`3P<>H
zdKD^s;Tx6eFbkvxS>QLh{FE+SejZCE^r0&%gRNn%^%qy!41?wxm(#{i38_USdP{04
z%Rdl4R=AuIwVV-QVlgecgfPjtm}6bzP1yk`UwsTUwyKGuN8EDg)hvVt+FiniR^$JR
zqo9^|8;kpQddoX>hb1ttx*KY{6%IvA-%P*#D?m=tTYwF@-D>}9*8dT~zha}%Gu%q}
zAnud~S~x1LQ<a=OosT0%5hQ~(@0;u+q50TF^tZX}3`#J%K7n9RaF1#DV$9ar<?zpd
zX}Oz-QMt>#1hoAJPGQu19%b2w2%aYR7=a-8A%d?G{5rwEB~V)a>rAOBe~T%yx*Q=G
zCFtA2eOqY`?WmiZhXG=i_TJQJ)(*d^Y&<rdjbzVdo{v2nJ2;b>m>8R#+Br2d6_b3A
z`*h1E<YK+~7>bAgf1!BS5|L{u{s%)uahu+P%^1fs^0sDadHxM0;YVL{RInv*0mje~
zE)VU;WBXfN5!9%SLIMij-@-jX-r~f00Zw4yfq?ZDdm9Vky=%md)^I5-AUUUvP)EE_
zDB(z{SttZlB1u$(Ki~>;H)?RfEc}lmM6Y*4e9NBUI`z!`!yw1@=N7m@p-wSzV=;nz
zmbl&|U5|15(+Ke4j}M5X!?RKsp6G$ufd_`u2%JOojBa(?5)vDpRsm-c2<|03oG7f$
zqgP8HSO`%N^dI-)@~d7P{XYOlBJqaRPPS9+v^vLy8PDrK)C1@N=bh-`3#tcreZ3xV
znt+oC*Be0}9mf9Ou-l{UF~;Z77p~s`N1l96A;>uDjeBqzyveJP_H-|=@f2i3_a;RY
z*N>*%5jX2i4O}oHBgEWMk?3788pF*KPy!Gazi`258fUcAoeAZLOas?Ro+V&p)o*1I
zrvo?}hM4;eg?-?r1oNNqW`O<IJf2q^YtMSKz<x)2XM0zBcY9BJuRHDS@OFB;yxra&
zZ!fGbp3cm8J5KOa;-=~?JwS^&Zw@E$F>emN9cu6M_TfJ4{`P(C``uY@zjvQ^e`kll
z$%#5w+3D?9y}YY>!Nsf|MGtrfZkn>=9Z*-ouCyQU9>BUBY#(ap+J`Z#UEV>^^FepF
zcMwk65jD>vD0v8}J>FrY=DqowMziYf#fi;f-kn9;Luh-{o3G5_tP5A4(ElMZic|gv
zar%4+)Ox70-#dy^{wemZYxQsSd+UybGo)kgeU<z1&Uod37{h7#12~uO<#-h=JePmi
zI|hzKP3NHZ@J4VhZ>;)!TNv&Gy_S30K}*i+(1yOHy}4?+V~QJ&ksG+;1G!-3=dtqh
z;mRNM<_m|sLx4H&u$Q~{+_q5cFlPQBX!eNrNaYA-5BjOAVfU+b!G*Nmx;*MVdef3q
z-lJIEkGCK59>c19sQq~RiT0D;hrGuZjrLRSL*7%M^KtJ9tl&4?dG86V_!RFHd&hAP
z;z_(8L+O(Pr3vpic<QM46u7}${red8nBrqScq;icz0lfu{>-^Er!LGLo_pc7S6-g0
zgeM$4J$kwyH)&08ZRSvGu?bY<IOW#o2v!JI0fw71MiMl?>++b(cWA?J5o+|JllY<U
zKfP;W@=cC)g`iFFX@b65x`gab41D)xulu?JI6URq&Q?%{U~BJIGIgm*V?UU`9gu68
zLstkmb#=Tae-f$Ij;$RGobElXP77PRw>IdX5vu-M4_;Vy=DMZ=hn*`o=kVvsxkZMr
zaXEaBH>WS*5bXF|a1G+ei2(gl`B%3=VBj$EY56)D<Q|r%*!VPo(vfGFdI<nG7#z2>
zTttvSnG9cM1<kpELqi&x!AT8uR$zVbf^u-r;<HRq^99#5-e&3m!EpjIL~uJU#ndMW
z=*<N|I~oFkucnT26kRu1_SXpd7eKzqY=YpY2!5L27J;&V$i0EhKFZV-L5|>MfZWr8
zXZI=#K0@&K0P;qq>?gWQefG5cC#?CW1i#Gc;L4vmCUQg&!uveSQ@rKTU8;P-ZFJLe
z4b{F;Evn0L>N1?X!S235aFgKs2^jszXS;88c}(JuzM2Y6(31?V<RKAU(u-BPck|+1
z);g^iPyPdTX1Z8A8dCC~5&Uz49|iD@Qd!bxmVb-jZxj4H!4DJs4T8T(@OKD)j^H}M
zFA#i%;1>b%#!^}S3+8^6;9nB_8q0C;3ab4e^J+J$eW|RWUq{(DXbt@_66#15t`0m|
z{P^Y3DsO(IdZj6N!SsZU_cAtH^8S8cA@gEi;(gmf+kvZj6Y9;N72m}7y=?DI9=WDA
zGiK0JaCe1qA$rvq0~ZA?#EEc(r;mjg+<iv{*leQprm-2b2JWgD)@H)sZIzU|vl3uR
z@13cv`epbR!I2@+vqefqKoss4Y)HLHkphALfuHFr#eqK@{RYMxIEhW)^ZZr0LctDJ
z?vdJ_FY@gy!2-c600=+u4vw#1_VqXAzhUuj5-6TfK=A}Uk9CS^zCC=5+M4XrYs={=
zytVCoAF`M7Wc+k!i<g{gwQG;7At$(*)VO0v{XTgyhPPt+L^SqkEhbr-yN~~6UR=Xp
zxA9+Q3EXhpx8~wv>^%NE%|F4a_`OsTiffi13u;Sim&&E^x^8fVcO<BgjiOkR#g*ki
zd~(F#;;)ihN)A#4`jJ)sXI=eIRY_$=Yx&o89BZp{Yd?ZZcPr~k`uUSrYSnqi#np=L
zUnJBui-;=nli}YcSSJ4=J0BNLQLd~nt(E6{DO@b;76##4OO{K^>hC?lYK{`sIRa8<
qVC{Mf=*Lb3fBSxhtlOjtNx_dz>2oT2#XS%njhmTh=F=L#ul--8-Y<Co

diff --git a/simModel/egoTracking/__pycache__/model.cpython-39.pyc b/simModel/egoTracking/__pycache__/model.cpython-39.pyc
deleted file mode 100644
index 6e32a1685fefea2c417e6159e6ab059443c21c6e..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 19843
zcmd^ndu$wce&5XO?0dO<ih5dJ%a*P6iIiV=zQ{gXFUrS@MEgYAKF`@%ul6@2ceM}d
zw?m5DTLw++D-!gaUfZB(69-vdlD0-4NndGG6unEDCe5{I0vvj621Og7Kv4n*G(~~p
zYFtkJe7-X~Tv9S60ZIQUrTNY8{rvvE@7eOuP{zRDfBsj$s@{3mF#anOgMTq3&f#f~
zn1-PYW!4QRc$<zXY0I(X9dlxMTXnk;cj9JHC(%e+hG{fXPFiwe^-Lq<WF&6avyGgS
zlX$#7)W|#e#;`No7;!L^^f=lWbH>B?gmXahCY?#V6ZM0QL(U;7OV%eFhn>R`Pt}h!
zjygvh$DCu5PS+o59CwaOJX3$TQE&<p&(<GloN!J^JXe3T@tE^i<D_#^(nIyf8&5b-
zG)_6EB%QAp8&5h<n#L=J8df9k8*1b|%lVWt=Z)g%Huq|-X!`b*YTLs*rOKY`RU0ni
z@h`5rt8Ovo$J*7VAFH(5zO_<i!HTXnSv$X=%NJ*7)+_FcS8X+mmY;mXU9MK@uAgw1
zS{KV2m13{FK8siOYHO|9T$-=AO?IA}bG=(FedEGvwXV=GKJQ^<KZ71?ZpCZq4P<7n
zmRByeT3Rh!_LFPw^1{Xn+m2mx%k>3Ja%QbuUoCU!3Kuf?mqp?np7xh;@UFqb#zC7n
z<cqEy{fi@(P?m~+m{tjud_V3aRZ6AbH=LAftIUU{%BtM^wv$#vDv#Vuu!T<6&8bn8
zj;V2!4yg%s0Ht{~sSe^jEd7tDLm$S}VRZyGMv*gy9*-jDn0g2~<L*T5fI5yo9##dU
zC)FeB1lk^S54ndA8}4DeC3e_QkD}FM>Lh9%VL$5e4=weCI)(I6cSIG@$CK()NF57P
zr_~fv52<N&20b2kA4aRfqJ^HGLfxm;GbnvTJ*%EW=?V2|^%=Y$RnM!>;{BNV5p@>t
zlj;TaBHoXy&#9O2enP#h&f$GZomUs|E-DKEbjgojZ7H{2ehn8bQwaZX^s|@F7OJYy
zS}Y(@sFd{!QEAilE?4XB*#aVjfWjhD?b8K!dTF}wuDf1ttkm6U6i%-<>hJEf)2-E@
z9U>mqbGKF~l2+4&>SAG|wOUv%uepV2=>7x&N(9m=5AY-%70T^Gxml<-S602#1?4VQ
zn{L5duC@y+WnFH#o~v2qj*j}%T_a?+r^De-_ZQKh&dwrQ*V}He3dFoJCUN(Lpmfjj
zaWTsm%5ChMx9k?0m=t%Hah6<1$=)qg*WZ<WsCoq~q}lTBoPT@8tyCAQt~y;nty|T4
zy>LC~Tp{HxOaGNst=*<qAX>nj8!OY%KFq&<^;KN&vxV!eR^7!8u9bDQe7%mjthQZM
z@LJeRY+i%=d289lbhTtw+bi|*hIG$9?wr|@F0bH_%5@wHI#?`M+?`!)R~vIJFWd?w
zR_lTUxJDQC7hAd^8K*I3wXzKOYjR!X=Eh*D07$fyK5X2owz2G1LAw<op6SBnmM(<n
zd0OVX=IS;u4tF0AhUG*U>&{hRk<BKsUZGrHYH4g}<8%T2@zk(Cdf*swLOTlyHh4}0
zbs3k7X+JJE%1?$@$4>&V2t|Gpa3T@nZ2=EI8J>xs40p-T;`-IgCE)LB!%t|}Th+}<
z8eRAQ7*F82h^PGn1Re-w&-AQbY|H4`%Gx5SjC~atWXpWdG>xv+HA?Yr3}K>cBTRM^
z2vdsjw2C9lNSKu{*G(a3$jf)p8nNMST-Up-HPSqSQS4wOmDsXW@}Qwo2Mv~Wjo#=M
z$S>Yw-Q*U=^~T?0$pmr^u*93}8nqG3#(s};If&H3-l3okVuz*95$56<evh+0s@TIZ
z?;(|zxg7T%RvDH3fb%LS12`==*LnKOOWJh-Gp)LMM-Uv~rs`G8^=b!DUG@rJ*_{6J
znSn~3?8(ocJ$d!)$@%G%i`##4`}S=o)u&Q&jGfVwZ%v(SOr2Dvlb@eDd3EaKypt>8
zTtV<EHvl4?*tELd8PXtaQ@m+YC|mluzs|qkc)4hTczMM~bPA{ACjtQ1WN!Revvtc)
zwLQJaR(cY7`XGZt42~dhQaJch19;j`vCh2buJ}oB1r%3%e%xD`X)1k;wMjJn7zWmd
z8Ov8N8_&HI;un7c{akX}6<rl_f3ekQR6T98YLf5=egVKHZ5B8eooA8NyzV5IT#wy2
zL)S^~7g{T=dTVJz4@rea+fSG4^#F<L9P?sJt5rSDSjLTrJZ^&BcI%7!01Ec5lrxs)
z>Z6QtJs%nRDZD;@@yv3o;hwow-e|gKD%giJSE`M9?8$4Z*Xz~F87xZ<`OLs^oZ)`e
zr&l)oRH?+nFO^QCul5B5Mmk|m+)h{tGx`@x#E`Z!mTji^+_p?ho<uBVX3P|FNAS*A
zBT}oAmjS2yT~~P1`+q!EK5`wui->2`%pQQZ7TYrQ5f4`~h~ompd$@Sa-!!{sFS%uG
zT3xG`QYNp9#Bh1T7;1$vJBr1lSR#taRg<=<C@&qwGEpoW#d1+>D2nAJX7<u@9j#tQ
z-e&NYi#9x0ZeZOPug#oam?<orzi?%yFnhT$_v%7n=1a5l3-iQ?vvZeUJ#`0?E`)y|
zN7^H-6&7Z%&de{IzxrC?wQI9i&tH41@S`(to&Lmz^%h9WYpwQr0i$2JcfE~!)YD~E
zU2Wf^62NQrQek1{OADVoAW-~;)@oCg^~ODFs-2s7kD5XjIc)KTa?{#(#}~=%?7!#S
zdZ|{Jom-I8ntT1qK3mB8Yv2Vrf%~oQm6sl*esGHS*?Dl3_glGqOAhrutAn2ceIQ8P
zXM=L3;?^Ie0T>E51fu&Kf-L~)4>AbY3(uWZ>kn|k1GlblO2FeZPrV3``=$LadB}|4
z8|We+8W`)7FA~A7?lzae#6G}z+^VVvYtSgKpO4OP|Jk7GCAWXv_pCY}fztj}g=#(+
zM9A^BcVDpL3!UwKFtMwa?gK6KZ~3+RLBVoBfX%tp#&xj5_m4~#b*oXTtu`wZ{O^JK
zIEdHUT^k_z`2HX%muz3c!+!g#y>D>T<y-U1Wr&>nlK}R;1Bd&cK49v80Y#4RUgU>k
z58N7T)l>U#RsS5W5HJ1dZ`q&0J`5~x|Go9<S6WNe$~{Ro_spxeXPe3ujESrC)qSo~
zf5-j|c54@aVH&@-&ouh0`_n%&uTE{qeE|82b}zY$uPv9`Zh(!7<%jo&wo0qngmw`3
z{@%MsG(o7`jpy!h<gEv7p{h_6+$SPhtCsI$R|e1tDQU0>s2*f$q^Ga!zemtVEG||n
zSE@_P9z;CPZGSTVOwfH$UapV!$fw_%^P}=ePWV1n-gMW!`>orCdaAN4tpENTJeRm<
zOTpqo-zB^WbmsdBAeE|yitg3x?R$e;e_IB|+8@>i@bP_ea!{Q^74|^PZqVd`Sl$6q
zCYl$Z?x*(ODc*u|bLs!L%^Dyk(Pr&`>^l_gJ{xT86+v(qFgxuBwo7gcNOk$%K)ba3
zAUyuk^2P(OX@u_pt?$1feR_C5bq6k2;S?r+x_~(mC*EU2c63OeyeB(&aA1_XPrbFc
z*mgaUEAC!FRoj(T18TbcDpgwbdR0`(pNzqvG{&V5wA-It3uLjq+7P9jOse=oG3#5f
z*V!v&ZyC0@by)Y>fl?0&;6`f=s^j*}dew8E^^+k{^%KC=?UweF?z&rn0Ei6H@cHpd
zz14;xP@jP^%C}h`=0G5JYS)6`X~rH$P{PxG5`kgm%^d!vtV|}8$CJpU@XyY~GfBLY
znKa)}jG3K@KpD1M+gLP3kynAfBKo6}nmS6+jJ=HrbYUiSUdr5zQHcy)m<?T+-L-ph
z<j1?zkHxyQ@ZujzleHAgeX*{&nA)<S4YNc2R6NvA*#r71d#>}`?A-j!wFN@`t9@-$
z;f?cGUZ0sSoO=0m;V%D+FZf0$4OI^f1C<-atf*;q0khT5Gx#h6(N_KlV`mwhMBrOh
zrC(s`MFho!?6&NIlj3HR);ZZ~6Ltd+npVA`KgY^1G1zkuPay9P@wBN8Hn7Du4+5cO
zPX5rgWz&xYn|?Qy?k;U4_n#_W*>jGAT{JY5^VCUh8ST?v3?>4o&uj55YtvL#*Mw0(
zbdj__L!lm<+XlKa7K$nT7~c960+=)auN!{aTZX<^LI3T<MQ7}%sY#xP0oZjCstj0d
z`f*Y76|DgNOmFXUi|Fvb;b~JlZkQux9*Wt{=pa-{-@De8L{-+8b^Rkm07E7<tyqag
z82P{wT`Ei<n}8Q(-!SyoQ6`Yp4q}Nd<85ox-i*V{VNb%Y593ABOLpV$nJRV2m@tq|
z<H;N}HWQtZZmgGrp#=M68gClS37eYT^v3%pOc|!}meI7HGB8r=d1KSOc?=rZKxZ23
zWkVfm@HTomre$xleIt?Sj8>N2%8gPR+)XLm)&CwdjLzgB44-WG!S`eHRL6Sxv_6le
ze{8<|u~{q*-4#H2T$*ZcDCJ$xkAdU~&^q~9up>*bYHiGD-O@X-t9c;Bq#TzMt2DhG
zNOjV%Rn}c-eqG<@Njov%p}hxs3GKg!r#+3pfIfW$&^so_O09Z6(yrT<6&`oSB2=fW
z&Tw$-5flNBJcLf}IQs~ue-5Qf*l~ejW6jVGP8oQGI&=k-*QO<y1$uPA0bm{Q0Q_>v
zc;^K1OD(QqH!S@eVhLrVw!nT@wCOjWYrYs_B^b{3X|3<tT6gKA5uf|mJS`?9CoZ}k
zeGU`GU80c(S7QZO+_z>H;FVF<ZC6Y!y4Au#L5b=l%ATjI*Zo9!WyNi({-I<ebIa@{
zCoSF5j0nGmy4wK3S%CS=x22nSWf>M5-(K^8o_6CIe+U3^J~Z6SUIJ7b?E+?H0Mle}
zE@Jnf)x*qN#6PrzWXzn^84u2ASL<B|L_|M|M=s|a`sI=69It2-_DEb*vnB=+eO$$w
zma=JQtl5gjkhl^b4qEk8j(!{T+31=}BWhHQeSk@NW-p<}#XMmICX*_!xTU|_wQ#J<
zo3@vNMbX@hW0Z6+(*;TC#!FdA<-*jEr1D{ESW+WlYE)8VVQO4b6JhEA?4Gf%{i1QR
z)@-VY|2JcarFJq11#KLd^UY^`^XX0sd_!vr#x}=htYb|z@#xOb)KnX0!l{72?Zlp%
ze!4R;H3d7nt6`wjZo5@qrP%9OPe0X3vNkL+Y<6?C>P@wpQ-C(~^k!#lYARxMrpqEK
z>(Ah5S+}{`n5xvt;eZUC092cfy#l65kdiZeY3B0z*RL#;-kACP!dtJ+6c3734;D)h
z)~cRCCxO8)vU$SN>3Xkf1=HgjEFDAOWJ3irojv>%VUGG*Kh@XVN}ecYB`=6&QSWM~
zTa#?jvN>sFUlFCUp9r?bVUKT8YwX8`wReV*@kZcaa<N`+x1GdVg>Oy!VMx}UES6ph
zm+oZxw{iB8RMM}brXR<RYqs}XIa&22FWQfxjzJS7&?CvaCFGqX{x1Li*c!F|M`Daf
zlC^mi^8^2K=wo+IiWC$sTeN}7(eApQ<iR4^`8(nDteN_^J*x%`$;%3E0GAaw)m$_6
z7dj&-N%WFk;M7g)P2=VqXkTjMazOcTp{=)&_mm-*+wySfR1D4p)>aJHH7otWbwI^$
z#P!#`oHs;gt@kWk(U_NuN>j?9i^8Ved~7Ed7Yy~$2QG9L)R`1IY?<!mRhpM^$s$FT
zeulqp>d%HF4hJJ5NBW4yjEB9mygz0l8WXvjiEzxso-yNCSzcv;0ulpbj$nk}lF>(M
zqlo`x*gsO}D=F(uVophnhxyCwQ_@owjupwlo@!(4D{4Q6_UWiS93G<f8EK#EX1eL1
zy`Y65(3-Q`!#G_hwN~0Fl_56>>Dhh;dDY*CTZ3H9>c69dLvF1EUbO1AOQbZp@?dIw
zu&lJW3ZE0#86T_?W){Z-<~Px%z2l4eEes^Se&R(a_l=t6OG5P=o0@q|(ARWY@ndRb
z$r;9_m#LQORX8NH^^da1hHM4z1`VZz>!ewQegqI|#N_rxe^h*PTm}D&(BTkkcI)Ev
z=%i37@P5n&T#Rtw)D1d0PN9z)9BXYI&xT`_@h)#Tv9(1B)}2_HvGU^jo*V3ER_ZP9
z4bjZa@*<OgCy!1ZhujQ=CS1q7@HLa5n}^I1D<j;`PAZ4;NvX?sXC%0&I~~($6Xr5f
z?eY?$?sA3vPXCW_p0beFbBGZ7$noF}{v8fAu^M=tnvDnKss<UVmc*07gBw%JkS|)y
zE{bnK$m2U{5uhnwZv#4RL+~Nz=*Qqvr-9oI-(2_24L=5b2H6&zwjY<X04kLu_LF?W
zROzJq2FNcK?LZ7_p##0b;3k7Td`J#sTo%hUe7{=URC=Bmz+o1)Z{jwX#@n5-aFYhA
zLZp?BucI<NqiFSP-?34Vz{x?Qjlw2jtAOtC08wF^fZ*_8n-)_88)MBy1c+M$zD@Y)
zHu}=<GAJ|nGJ|&*P<|Fz-?eg1P<I*ZS$Q5S4~fkz*1pQMi$^rp4ms$yeY-DR@2&_h
z+Qdo=u66BQ0=9)AC>RM~JcdYry`FGeOLQ^;0}Lc&?p|Ylw}zz{-&rQ;^(s6%0~knn
zE#AvemeW6emnDs2raO+kTvdmwB1^~<oxI&S7@g$qdb?;8U5g?bbqx#SQbf7~j9cLM
z!Pf)A6?ps)$eV*=iLQXqFM5J4JD>@@H1q|K0Hb_(hs(BPcIEbKXYb7I1vF|1{a_BH
zX&kMV*MAhed&64>7|)kPZ;=Mw+dG=wyL+#8Z3wk(_IR@=eUX-YCWuA7QVT+-yuH1~
zKcUw+dPN)Q^?%DA!9^N-MCN)Fu6WpqEempQax;a}@ousUfJd28gJWK8w02+uG*&^<
zRp}3~SJDG826{*%KG|o>yJ<BXmQN}$=V*ISjU6>0M~|!gu2Q&HOaF&ZHo2$lpgJUF
zhwmt};e5?eGblgOI|{iCoJ8*!Q?-Wz_P=(#n^i~DQONqaZm#!mH>Z+xatvo3w#Tds
zC^<&g?QTXL=d1<mJv`?pE|!~X<@QIsPi4Bv3ORFP=UcOW3JB%ZMaHsFx%Hjjg`gJg
z?f(S;-TsgP+0<=O`oyRZsa9?@-8PhWi}1(Q@1szBIe8O`)^;3e{WAzUC$7O)P`q*n
zTt~&<S~O1>Z@L)UCNbRpeFh&hm_PvP5C=~VRiE94L!%6V8_7<$shH}FiCu*Pz}dpd
z>1P%T?dfe|6?8||beqbS?cZcZ*lG&#&d9~kQJ82P4cn;xe^~R|42Vto)z7o~_!U$u
ztiUUkas&tZ^rD}J^`Wd^1BKi^j!M|pcpIKtF0kQWL|T8H!CykKtr+8!QS?_B{~Ck8
zz<^r@Ur8#}w8vnTK^1{NR932_U?(j#!Q1LjA<s#ZZpwEFn(KhZ!drAwk_l%+N9eV3
z&qGh;<e9s}G3c+b<8ugn@D9+o^Q;rXXSDTKnVo4wUobc+Fe~ykgP)Zd1jZ$3xq`ma
zomQ(c&&5Iq#u<7rhY8ly8yu#?U>bol1h@i{EI|ret$X?>I1tpjO!$S;4kj)E4w`K`
zi^BOA&dk*&#kXthA}1rj3v*)$-)#&9OpfJ(iE%d^n|lMc=4m|7IElvE9MkE>+C{)O
z3{X4K4JSo+>!4hYj!{AD{#Z1+t4aZ_*-O1-owD;kP89#=Ff#+3P7XZHAv}}jgz!at
zk3n-VA~|E=iI~a<g3b>TiJTC65qo}+h$loCLQ3M9el6rj@k9<BRUX2V1ustOCdeoR
z?IZmWZRzr@N-UsK-@x1gO%jx9(I2_ch(Y*eB&d-NG)IS^R6xp-R17I#YGog#RvNMm
z-U(=(l3q;3-!p;z7dOGnLv{iq0Sucu4DF#8_Yx{`)KIpUm@v92;MMq1A->cs0-uB7
zi0UTyt9!@*mk+FV^RwL~bV|uNKil4+ow|pK>%WX(n+$;5D*aax1Ggf#h9YeV#)3v^
z*`-<8&qo;|^XeOHM!?b})0!-VCZZ~)1NKemJa-VFy|VQApcCGQKypromQC0q1j07-
z-(g*|wg+JJ-$wQ~2`Wbrp@kt20HMQe4pQxtIKn4yTR%)CI*$h&!oBVS@DcG@aI9Q<
z|BrD#!Uqxak;HV(!%$~`Wa4|NK$Z^_(m@w{_%iAb0?({w`wuu_={-_P50s)avb4L{
zFhUf!Plo?7H1C=<diI)-u_q8(o3Un(bhQU)fkaLHyA93dXJF4rM0!ie;gGnYyb?WS
z3VQhz^o;1GWZ|90JB@b+Z%CxIEZ&fk5t`C-jy)qa1ePz4<qvO}Z-aw?TfSKu#WSX2
zy>ZM19>3%adJ}*}$hE@V$PCf$fb=xUp87PkcaW)odq9mtfnz^nhr5Bdu}NAj?Vte<
z+I3@+eu(KC7C4;al0MG#X1bZ*Da{(2SXb@g-qEgjEK5m2>S3L|N4kOcve`QktSF@8
zHss!OLYF@_3&lqTqdUpavo7GvDVORc1fm0?g9~KRIcEM-2ExF<%UGEKxp>hGU877P
zoVzoMLnq0*;zG;}@}Fe2#FZ=8=3UQ8;(e)FVdSDje7gn?U2n2d8dB4FQQ=Cr=V@to
z2xJhKgnl~7^{_m-5k&MNXCm01Ix10M>9?8ZFsL(FM&RW8(pK0(hV(m#Lx?-WdLndD
zR08TRua^|v7_mWAsX;4zomILFcBt(-lR~%l+>8w70*Qs(%y)P(&Y>dt`ULJVmBe|V
zY3irsA5e52H`~5F5~IkQ0OA)ndLan;(88FB1mK;ncU>o<qe!ZuVh|u==r1tDg_1W-
zS#QTTaj|I5fw5*1-~!nWNR}u$u?3b7YO8C3!s;zy|DdkIrJ_6(fRX+u=o*qw11~4B
z9%vHsE3K6h)PG(HYBUdL2J5M(TlIOc7XB~{v);uZgBUAR&j;I0o0R^?4AvOjVj#P^
zXG5vq#J835S;zOeqj}UcVtI1{#*s<vS;p$y!Uk&Yl9h;@Y&?Q*o<jupnJ7<gE#44w
z^;5x{%LTQ{<9h?vks3D(<c9mp{}*T<@Lr!n%+Jwwi36uTr>*}6vOek?^49jCcR#(l
z0=tci+Hp)NH0Kd0M$A54j%q-H&4I%RbT?2!?K*KHPm*a_&`XHmoD7-xQ$Rg9Wt=RQ
zSF>Qcc^qeqcqw)hUn$jWO7c`9^5mJfv$TXCCk<=|i#vy2<*0>;)ZauBXD_$qUn1_C
zH}r3^id>yNM@EfR#6@E6S+163hQ`Yr4lHMO4g@4@Pt9G&#uY|ng189t2m65#2L{v#
z^sS6l7+fWvYS}Q~qqQVaOZHM*kmNyFV1|U91LY#zL7d!Kbyf?O;uk!`Ucusdu|?7S
zh0qOGifYIWcH>tV<5>p`Yc@Ew5{+`98-XKm0cwxS0j*l1yoC5(ZMT0QZ0N3q-}y=x
z<Ad8p-~f0W4Yup9^>=OBE?EC#OcBe*@dujgE!zKnoqDhmc&}QLc3@?T(TFM7`UX;o
zU8!V0h5k~#G(v7@b}P^<rvjTT?#vL!BQ<0_=m0(p-l4P}+$+#r;nu!}`XfXyct@YY
zG2Nu39oOIX##M?R<jIVKyzjC99_8gpd@c07pd_kCdwhCMl(_mQvG@g;T!zHL2idjM
zYSuUOpXafCz~C1VbUyv%%0{{Q&H_GJq*DXFCB#RyZG0YChP@eIcp@KPqQF!kPAd2+
zPO8IJbCO-0V-V3!pZeU{OZ?VcKgtqvmrfQ&27Dwc3}zsah42!{WTG!S!HOfn>COY8
zv{n_cg#PF3gjX*Bw%=v!?=omIp!!E#4xG`l*3~t5n?@5AsMg<NjXjq$fjMI2BLp&<
zY$%bC3<dunc?g-pJ+)FWr({5)U@Q?r1(QiG0K=e*U2q4?yu(r+LW1YC<3}-%GsMI5
zvF7l94);X1h)5K6*>&2*WJ5kO11z&=+Ucmu^PG7C%}7>({6mX)RK9CkIaG_(WcZZ;
zx+Fk=5yc7IAt1g0lPDYFi-lB7QgMnl5Mm&j08d)-j(au?D<(+8379_soTQseu*^aY
zgzq^ax_~iLnGc{QyLoQOP}y(Lv;mV4ZM3KdD=oqiiNj8d_&CEQn30q{VL&*-bwRs{
zZy>D>Kw-lx#+*sy9F&|4=5R>n@a|@ot`)%?y6J8f-@bGF!yF$a85lm8cjPd{s(uV2
zRgeqeE6hcVq7zhHtQ|)WM`Z=SEeCaM&KVY=_W~S!mH?CZj`BV1r~Z2kdJHI3>0d>#
zP5LVL4qB1_!uVff?lyv=4NohPdz?hzd>JS--e+0dPXyj(`0atnsmw`7CRHap;36j6
zMc)%_=~?;v&NsuaNPq9;Fk*hIU-a_QqWoFk3L}Yck;TQ|AN4E$#y3IL{w;Fu8f>8e
z<>y&`mtgyAEch8#vUb)KD8ORAEeejGWffU!R?va|WoG;ugTK$<27|wa03VXBIB{I$
z@`lKP_)!LGN$U8tTz`b}VovUbleoSlN{D~JhX0U3#7X&P)yc|<T`6C8>uvo9D0Z?m
zbA=iTC(B9o)fK<a)_d-m=x(l2OLgIu&+(>RK_vs&AQVPPzXMIfpQPd``<R)y4WsOB
zI|l6ov<*Q>ag{8uXep95bsaynY)OCIXV$p7aGYH?mV83Q&3+dN-dN#ZsgwmZM+h#q
zYyLdRf`t%Vti<h~H+~@ruZF-xi<<?(EzwIrF`9(x0R*fYM?L!&f)7O#<PJc35`l}H
z2LY;ULD37oXc51dAzxf)y&ROqFvdd7${U)m4U=F23rx!W%=bod`&g0{b@I<5Hb$|L
z?oq%T2-%~2@oh7NRRIK3ZWqYZRjf|`GX$LzufKMQUx|iagcjy!7Wn%S(WjE1D?HJ$
zo_N85RllNJ_}LI=2%5LO_wtv}RdGV-k&{7J;qL}GRA<cX^mbP_sI#0)<esNTnf#j!
zNW%i46-Fr?`Lp`=4R@pM3{z)_8TDDEK*@N3$9uJ0ZN6D;s@APHm%&<Ic%_&LVAxuR
z?rj6l`ZIVx19yRe*+p)DP8>gj0L@&i1|e(@n9AkAs25&w38W-AMr_hN0`R0O6{V|5
z#77_{^a(^TBed8BZXgLebc;G!93hy@kSl@ML|yrvLeLayIuju~#w*IN=Sx&^>fb|A
zK=~)ZbU<AQd9timHsFO)5*woaHf!uz5EPuOyS78zC@1y_Zcuo~#AE2_BA)gN0!|$A
z-tpkq2FO&|^cgar$NEaP2lEfz8HHg=qHd~|22+@!^BtJNI&yMtC5s;l7oQK`FyDkM
z7z{lD!xj?q0O5}YN1g$e(W~-%5CI70cR-Ne<OjN5f|E0Wsymy~Z}b?72G}a1YW=Sn
zJj!5(!M|tl9~k^c26x-Y6y1M0-d7^P5OAO>jRH3Hqy!IeGvQb2{RW@By#)-`*L(sV
z<cA}K!xeAI@IqU2Ap!cIFBcQQ{_tmocE9do<-#G-0wOzwUlRbMrdu0#o4@`~sP@wl
z6ab+D3Wfr<D{Kazxxg)Q?sD--e!tIOODUE7Oo_jOuv%w4S1R3HE!V@6WT~WD6=cUS
zt{;P4)VKMQCi)r9>2U^6Feoy(#GuB2x`bfgh2P9DDJFq2#;CZ_-$CFc`8_x3)=w}?
z7*s3(E<TI(R@oD37O0VgpA`Z6w^(i~=!5hK8~qN0-(?`z=ie~4=dk~fdEA|Wt0R}_
zY35BJIEtsuNy80j0x%o=`+lhVCN+|O_V;toraJkdR3bH*pGZBMdVDM~79X)w=b>A_
zof{pA<xjG7GL=fE9zv~CsZr3nyo^yit)Jz1&okiN(>?+}0bLO+Qkv^_4&ax4rd<zC
zhSM`U4u?)$vYhNdo_>`*@ESYuoBTN{`MC+l#_zi<i-vhe;p~h@H)cADfl27&mH_3%
z;dr&OA;%J2LR;e(VggYi&0&t<QU=gO@Ap=78WPWC_^sg=sk9t$mbJ$B*5dC~ke7By
zqJs7Vza}v~X#X2xwPR7Wa2R0t==ZSXhch7Vc-4A)I#P0M=wY-JaBzl#GIYY<1PZ7T
zfzCOwWB!@miONrD$no3_HvH6!!M%8i$X>knL;V{l1kEuyP>H~Slg=sPq9U|o#LC6~
EFSD^@6#xJL

diff --git a/simModel/egoTracking/__pycache__/movingScene.cpython-39.pyc b/simModel/egoTracking/__pycache__/movingScene.cpython-39.pyc
deleted file mode 100644
index 825577c08b0f02ca38f4695865240eeb1df7b67d..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 7812
zcmeHMTWllOc|LO^XNJS8C`wvy5;dt^(_Uz|Y3sU)cDvryUesu1ceRNT)(%5+hSG3{
z9P!LhyAp<I;Wdy8+GGRtaUZB62p}{--u%`+H9%0HX`c^@B4~jE?qdqHMv&J1{xc*+
zt(`PQQRJm0=I4LzmpT7;zW-+{pSKx4|M30qxqq|9*gsKX{-Ysr6;Jd8!ey=!um=6A
z0qZFZMIl`a)SlMRq^<{g&uAD@SAtA0+b}1()v!?42<%?2k?T1PN9JdOe6P?b^oosQ
zuhb~XylhbJRT>qko54b_+Ndh*7IQ7veuugCBek)JRL*sfa*(RI$_}gN-@^>qc3lyL
zd%Sgh^Txxrw;%gqA31t7;4yxU-yeEIudWJb+lwEB{Qk9}AGjiW*L#bUx+bz;@b>(6
z;E9a48(wd5;cN_hy~9Z^y0GqsE%z30?e8Ixy&i_#y?3)sL(hK<B(CC#IuIUfC@yQL
zp62PU;;K(HS9A4u^oHSOysT?HQQeH2McVW%&qfUsHE6MVBbP3-;duFO!7Jiha`R7g
zx8N30T6Rlr`5o4%$PK87+@0{i@9*xky}q}7g2nW`c(dOLg@(n54EN$8@3-ldPCulp
zc&_7#@cvn%B&^926%uoXRHf8>(sd~fDKjqHVJFIVJ<AJd$BPic@Z4Q55>|KEZ`0OC
z!f6jVpX^>F%mZ(4bNiKWQ<&i}ezgM))6^p`=$!U)!uSe0`^mM7dtuMJ_@H&z_b#?W
z*Somo_jdeV^R?kyf#1Fu`Mo>H4K8AFc;oH+So+1@=?<*z9}2VC^!t9?Y?jbtL=$C7
zX6}1bo!hdtX=NOctlNrPI4#1A{hqfId;4ehZ3!La@W_4pM}@JNb(Jx8t*dqQW91EX
zq>c30NHkYD#~vvo13KQl)H8|Us>>|NknE_5ajLoM(p-L8E3H8?Elstw{nD&`s!iKd
zs$-3^apn;lnNnIwc7wfnbz~ovFw1P$Ozagl%Dv9|HJ!!Q;om8YzF%a6?|hN<)k`cf
zlU&!nhW3dCEeFjSd<VI#X(NX<b3Pk6iG^N&G|E$-V<*WUE2BbE=;o38gHciD7Lp=z
zOG&9)9F>#uV})0ea^j3j$Lv5s>buyx@)&ujRgo<gq`r_WjH^inxm9S3Qd^8`vi1_y
zfVMndIcCd%qetqfmQ<6)q}I_ACn>MvB#+Oz8cuR~l5cd>V*pmaK;<j!4Q*5%Ey`A<
z?lUVaDK*cd{Z#*0QbW$iA1i~(;HPxf>-zS4E?)V2c-t_!n729|zrE$}?!`NCEB2!L
zCxn6AwlA_c<`P75yI%ZS82MxisfDP%D>T0!3oY_udFF++>xH*l(H;!P{G4}qgY%H{
z3I^c|5Q6&ny@@@E{8Za&^-;e#S4KG^8wXqAuHP2=eeV#~H<@KXvlJ%HX0H`_!iIKl
zQqv*}O|z}O_i$3f;Nh_EiaaWABXj40AGh~}4VxPVEn1GqQXjAlq3sXRcN|2Ueb;*^
za@60wK<<ffs7DNyrtC;|L#^sde3_Pbp2Wv!ohsU@9!!?n-}1tTGwo31qqc`E%zbZj
z1KYG6KDZ%~hBVre2>ZFaM{|;uL<afywvgM!e(MBBkO6eH8wfontuR}+oHu`wW^#$d
zuao!;3BsXNoP#EE!+pSlC-If$9PL3crK&iJqZJfep(iu>E&RLg0BTfIQI!&E*!Vgs
z<>-nj(~bn90=1T<sQH1an0V9=bhV)9XzBc?X{0rdmgb>qZYH?3j04wi<4hg+E+?cr
zgH<{*2<IhMJr5;OcolY`j2SGD@hY9}SV>gil$L0?0n~L|>pP5>QMs=23;5w#()IME
zZBfP@h(?A0y&pZjQJI$O0`xzRDv=4numd`F;;1sehO|<f>}mR`Lb343x!%Ri6f+<g
z?xd~)L|GnT)-j9Kt~S;aSo0$VsH6-Wlp8323G-*&%s889Kn*?7yC%OtQnocFZ7sAl
zW^Hc|F3_FVwZ}O^l2Infpmt@HO&IVD`APOzRoLJFqvpp2<P^IliSXvg0s`82a&nfk
z_PBh^HrQk3%?;cEd0-(SBU;>7`40#09#tp304Gsi9F>5-&jEickCj6ZCHevx7m~cI
zq-X^^emBMAxEe14eTymDLAR1psxRS&k)zb^6P_Lb;S1v><Ycf5WsCq?MPFANl_%Iv
zC>%^i(kHlRCWXXK^6MD!=a1#mJy-13s!Wde&%fY!fBzBV<<jvm-{s>Et$pxr;^19e
z!A@013mDT*DwkQZ@L1*QQAzIP3f&3{!y2n{7uCb{bgk(+AFBfuYhulFNe=QEiQ~pL
zrz7_s@t&Lf6Oi@u{8{{@pt}l9=tN}1A|P(76#?J9eH>?kbij{<<&>_FHSxM^5CDET
z9pBVkwn_UH5}zbN?1+B~LKuGR^&(D#3k?>)$uxnX;RBIzy;r!`66F@>{(-mQMX}#c
z!M5l<^yBMcKjvXTq=(2HsE)@MspA?%y((?9Q6j{hn{WhBCD>~>jIK{yQ1ydGuJ1jV
zEC}WO1O8d+W}RjtDOw-IO!g{l$<yw(`q&Qj;69!Mp*$4Ip|D{3ugHl?C=fab)9%wi
zP@3QrAUzxsBzy^DL;(cxFdGnOe_-kW##zeN3xLOxT1A<TTmn}BB7O^iL|b_QdWmWS
zN=vG(tes5*WJ;=|m?))sXaVi${5<SDJ*5*}=zZ+z+$L!4xYH&MKm8E;5s*n-dJPIr
zBjeAJoM21J|9~+-RxQzw;Q~oq()bo?X|h%ZngaC6oT>Hc8P=W{=@BHJD$M;LjOmt3
zX@En?>Fs}#O@Vk16;G$leM&Y+`~iulZZC^^kayRgp)_(J(w9)f7TL<t;`}Df>YjmT
z@)c=Y=*&hxfJou_t0_FcJW`>lV~{QYkGx8{@-j(4im?H;kuJ+Yg^!g)=>nhuHWvmC
zatU;Qb7aW!EWtAYu>|h(qpZvYfkmzf2vh(BW;chnZw<Ck=8W@H<5>9$>nP-4y<;L>
z7#9hOAEmk4B)2rpb@eCO$ij=TIx5JWv3+KtWS+E8Vqg&wm0i5?H%qvQaBHG-<yiTa
zI?!=P(k7p%BIiBa4|)9Q4cx;L8<3~2T@q^R;6zDZmV6zON7(CuAI0skw}0g?(EMNV
zu%j2}w?FMozO1$NAZ)jS=n9l+tN+DZc_=5$Ievs19q<@RdQ@m`d<gNEq#Qt;Xq--c
z!)&+s<_r{0%A5|u+*u_qNJmu|1cQ;}hQvoxsC=F(6H4+IAVh)a7*WWktSn(M1;~A>
zLx?6a2d!Y}MG}KfY`K5J;_$q8$@7LkOSDcJ$6ac3liHY5>)^L#l7^v4NJt~>p3oGz
z;FQnJZS$X_O|%LDn*gk&jI1`%9Hpc?N=>Q#M<#QYht2g+Um$n0-|BhIrm&mMUg!=3
z(w$~=Fl+^B38!Nvca=Xw8nH9}t0X=LA@r2UMKR~{3ZeLc(A@o9zDJtT3Bp#)$@S!Y
z5?>*4YUr~w#>u?t){%B@DwTZc<%(r))GS%jM#-5E&FU(i=pMu`9<Xpt*FpdS!3sBr
zU)#%d5vstq;5rCX<lO?o6h#@HD2kjs&v(83pmn&-^BCw1PbE+xyOS9E5)|TP(^!Oz
zIjB-jViB?Nh+-0mLqKMwG-pU!w@%{;>8(7wDATLHiT+QWEKdIX+%`%}px5(#JP|SK
z`LKbB>*uICx0w0Bfk}abYjCopS94~8)GNI?xxjw|2chc&2uV^^nG6{KHD@6MTqD1P
zkby2k1|-jh42*8(OvoU6_`@mH8hm>$WMIxh29^vNd|QSLD2TwCM3|izR67BHB505w
zJI9Oy2ID-r>NQ4W4ygiii%AhAbt@_2X80t958g0FWg>#)wkHeZ)Js>tvJSdEcpj~Q
z_h_A;{5oj;V;P?KI-Gns2;)*x!>CKi5=uJBQn!qryQ5`UR!Npowvw!L7Z8L19p`T!
zRS+ns$UuP{6D0E-NM;sP{jaAh$H;F_*1mwYRfG{%nv0m*RIeeVu+qecgSYW?Bmvd8
z`Nwe#B=tPHv~y$Y#`SxvFRb3Y`|6$54~G?2U%!3h?v2$B2e4dz*8gmMIR(qNs0*^=
z6g{3Ljfew(j>NB#I1M6Xqd@@T`5PkJ4*Pu%zG4RMZxnKo^&WcdVGNY)cyRGsK_HBF
z5aRrvh3(Wo{%z{^WfH$b;xiESbLsW=m@>#Ko+BieDS3s&?~=Gm;uR9tNRS=y4G5vr
ztb~RsH4wpwHn(rSDl{m-J6bm1q?(sVociWBC`rK2Z;>F(f7*fxQU4at#80mP)&FOH
zx(zA{5(;meY~BQ&tUx1jNgh10rqqX5l?uwpk9U-#rFmqS^V82<+Jt@<9*G54fdywA
z-3uf2h}=mvQ7@BoQ^C2@4%eoqj>2<P9~PB5zk1g|ZM~aGQ3O_oAT1aav9T<%pf~>%
zPE;1`32rUwnQ%wr!I!|I3_R4z8riWG+n}x%oJ!@93SCd^RG&DQdN+4p;r{}6&y=n)
z1^Xy~ICU@8QEp-jIsPLMr9zT*wbZ#B{1_-;Bw27aj0ysrYUI?vgqf)bBu-YFIQ;$j
zwGZB>wZrBvOjkd6{}LO#kKS0bh@M!pG_|T%v7r->t~>|x(kqh&K^G!FHJlwveu{)f
z;`1cFK;m^0(wOKvoO81B=~<Vz2L(Xp&N_KElCSVDlhz_}I+ROEkHqO^EpHjR;PF=o
zi>^XR`8c9J_>zlLkxmeuTNUT)`I)Pulk0;oIXW^*gi<<{N9RA{?9F_yGY9bhsr*M$
zc}b7?0I%Ysi197FC`pWuUYy_PITHAP!PfbMpD~@=)9LU-s&Pc(k4VTfHsiUHB>oni
zu~iiQ_x$!}ERFA?@h`zE=3R`-dnBH+9b&+DXk8!nW#`v0^JVKL{#EMcYb3r-B16I?
zA<6h3lQtvcoNO~?*ndLW9*J*|IOX4`Gm@G#>2IRSU*U<!#z4L8(q*%5E_2F9+<O&2
zY5Yg;wc@=r0Avj4pGoNrhy~Yc@%_Wyp}#iMgf&ySoXoe-i#R|14{Qz2WH0Qm;Sayr
z-<qkXK`RvJo~{Rf?q;hUhx||mcGE4O`$!aru^&WhGha)(dLp0Zq8mwV<@#yU<(lSR
f%WM;bxt{tzSMYvP7n-ij^lNIRY0&%+*-QTgI1%J3

diff --git a/sitemap.xml b/sitemap.xml
index ef9a912..058de2d 100644
--- a/sitemap.xml
+++ b/sitemap.xml
@@ -2,7 +2,7 @@
 <urlset xmlns="http://www.sitemaps.org/schemas/sitemap/0.9" xmlns:xhtml="http://www.w3.org/1999/xhtml">
     <url>
          <loc>None./</loc>
-         <lastmod>2023-07-27</lastmod>
+         <lastmod>2023-07-28</lastmod>
          <changefreq>daily</changefreq>
          <xhtml:link rel="alternate" hreflang="en" href="Noneen/"/>
          <xhtml:link rel="alternate" hreflang="zh" href="Nonezh/"/>
@@ -10,7 +10,7 @@
     </url>
     <url>
          <loc>NoneAnalysisAndEvaluation/Database/</loc>
-         <lastmod>2023-07-27</lastmod>
+         <lastmod>2023-07-28</lastmod>
          <changefreq>daily</changefreq>
          <xhtml:link rel="alternate" hreflang="en" href="Noneen/AnalysisAndEvaluation/Database/"/>
          <xhtml:link rel="alternate" hreflang="zh" href="Nonezh/AnalysisAndEvaluation/Database/"/>
@@ -18,7 +18,7 @@
     </url>
     <url>
          <loc>NoneAnalysisAndEvaluation/Evaluation/</loc>
-         <lastmod>2023-07-27</lastmod>
+         <lastmod>2023-07-28</lastmod>
          <changefreq>daily</changefreq>
          <xhtml:link rel="alternate" hreflang="en" href="Noneen/AnalysisAndEvaluation/Evaluation/"/>
          <xhtml:link rel="alternate" hreflang="zh" href="Nonezh/AnalysisAndEvaluation/Evaluation/"/>
@@ -26,7 +26,7 @@
     </url>
     <url>
          <loc>NoneDecisionAndPlanning/Customization/</loc>
-         <lastmod>2023-07-27</lastmod>
+         <lastmod>2023-07-28</lastmod>
          <changefreq>daily</changefreq>
          <xhtml:link rel="alternate" hreflang="en" href="Noneen/DecisionAndPlanning/Customization/"/>
          <xhtml:link rel="alternate" hreflang="zh" href="Nonezh/DecisionAndPlanning/Customization/"/>
@@ -34,7 +34,7 @@
     </url>
     <url>
          <loc>NoneDecisionAndPlanning/Decision/</loc>
-         <lastmod>2023-07-27</lastmod>
+         <lastmod>2023-07-28</lastmod>
          <changefreq>daily</changefreq>
          <xhtml:link rel="alternate" hreflang="en" href="Noneen/DecisionAndPlanning/Decision/"/>
          <xhtml:link rel="alternate" hreflang="zh" href="Nonezh/DecisionAndPlanning/Decision/"/>
@@ -42,7 +42,7 @@
     </url>
     <url>
          <loc>NoneDecisionAndPlanning/Overview/</loc>
-         <lastmod>2023-07-27</lastmod>
+         <lastmod>2023-07-28</lastmod>
          <changefreq>daily</changefreq>
          <xhtml:link rel="alternate" hreflang="en" href="Noneen/DecisionAndPlanning/Overview/"/>
          <xhtml:link rel="alternate" hreflang="zh" href="Nonezh/DecisionAndPlanning/Overview/"/>
@@ -50,7 +50,7 @@
     </url>
     <url>
          <loc>NoneDecisionAndPlanning/Planning/</loc>
-         <lastmod>2023-07-27</lastmod>
+         <lastmod>2023-07-28</lastmod>
          <changefreq>daily</changefreq>
          <xhtml:link rel="alternate" hreflang="en" href="Noneen/DecisionAndPlanning/Planning/"/>
          <xhtml:link rel="alternate" hreflang="zh" href="Nonezh/DecisionAndPlanning/Planning/"/>
@@ -58,7 +58,7 @@
     </url>
     <url>
          <loc>NoneGettingStarted/carla_cosim/</loc>
-         <lastmod>2023-07-27</lastmod>
+         <lastmod>2023-07-28</lastmod>
          <changefreq>daily</changefreq>
          <xhtml:link rel="alternate" hreflang="en" href="Noneen/GettingStarted/carla_cosim/"/>
          <xhtml:link rel="alternate" hreflang="zh" href="Nonezh/GettingStarted/carla_cosim/"/>
@@ -66,7 +66,7 @@
     </url>
     <url>
          <loc>NoneGettingStarted/installDeploy/</loc>
-         <lastmod>2023-07-27</lastmod>
+         <lastmod>2023-07-28</lastmod>
          <changefreq>daily</changefreq>
          <xhtml:link rel="alternate" hreflang="en" href="Noneen/GettingStarted/installDeploy/"/>
          <xhtml:link rel="alternate" hreflang="zh" href="Nonezh/GettingStarted/installDeploy/"/>
@@ -74,7 +74,7 @@
     </url>
     <url>
          <loc>NoneGettingStarted/otherFunction/</loc>
-         <lastmod>2023-07-27</lastmod>
+         <lastmod>2023-07-28</lastmod>
          <changefreq>daily</changefreq>
          <xhtml:link rel="alternate" hreflang="en" href="Noneen/GettingStarted/otherFunction/"/>
          <xhtml:link rel="alternate" hreflang="zh" href="Nonezh/GettingStarted/otherFunction/"/>
@@ -82,7 +82,7 @@
     </url>
     <url>
          <loc>NoneGettingStarted/realtimeSim/</loc>
-         <lastmod>2023-07-27</lastmod>
+         <lastmod>2023-07-28</lastmod>
          <changefreq>daily</changefreq>
          <xhtml:link rel="alternate" hreflang="en" href="Noneen/GettingStarted/realtimeSim/"/>
          <xhtml:link rel="alternate" hreflang="zh" href="Nonezh/GettingStarted/realtimeSim/"/>
@@ -90,7 +90,7 @@
     </url>
     <url>
          <loc>NoneGettingStarted/replayAndIreplay/</loc>
-         <lastmod>2023-07-27</lastmod>
+         <lastmod>2023-07-28</lastmod>
          <changefreq>daily</changefreq>
          <xhtml:link rel="alternate" hreflang="en" href="Noneen/GettingStarted/replayAndIreplay/"/>
          <xhtml:link rel="alternate" hreflang="zh" href="Nonezh/GettingStarted/replayAndIreplay/"/>
diff --git a/sitemap.xml.gz b/sitemap.xml.gz
index 50709691ee25dc1df0a88dc51879b0ebb5380d05..7cba2936422a0eb50304d32620b249569193b081 100644
GIT binary patch
delta 457
zcmV;)0XF{o1N#F9ABzYG%X-6+2OocI6A`Lv)2{ZiTdBL}Y8Ix!s<E^7BsBT;HP9kb
zB{W}1!57Bk@w~4dq=De(HI?21jTKsr*`?oS9;!&kLQTi)@1OhLHM<Efg1M0v$#ccZ
zj#)x98*!dxnQsMQ3N!0#Gvzi)+{W_vB=7q}R^A!CCX~vxo7q)y=W;k4^5TD#g%_S%
zxmFn!E08)0e`$q24|pEekHAu@<8aU)T=n|jdV_0M@}8@eMG2@WJ{$ZW#vtS};I&Mx
zu5dAuLcMqfomr5CMgbx75`)hYawe$C-I(R3P;tih?y*YhJyywjkCFnfFl+;It3WQT
zu(v9{TY#Jcxp&AXK=2PNo+%%#FHD~T<~|a~v95((qFoEy<GoE}SK<?lL_U;U*9VhB
z0VIF_cHiKIz^p@*E6Z(B-Yjqo<tpe7<tk{4@@9cuDgQtsclnXP5XL+LBjG91R-|Xj
zxWVu#2=ChdK)ym*0x2grlX}?=!t0h>VB8>ZAZ1Mnn)|tm&iFs0(Q*rv8w3udY|t4I
zDL!^(R@4o*KzM8WgZa)REZwO8Sw>xf{K*w{E2Nt=>bQ%CMGD^lfMMQyDG>kw21VV#

delta 457
zcmV;)0XF{o1N#F9ABzYG>?y*L2OocQ6A`Lv)2{Z?uGHOgH4D>V)!12k5}N$_HP9kb
zB{W}1!57Bk@w~4dq=De(EtTE^jTKsr*`?oS9;!&kLQTi)&+q%*H+B<V1al)TlIMz*
z9kYaJHsU<XGT#cq6lT`fX3A}pxQ*rSN#6H|th_UNODL6VH?yna&gF18<i&p}3oksk
za;-8dRv>j0K4^tL4|pEekHAu@<8aU)T=n|by}`9BdC%3#q6E|wUkv^WV-Ru~@LHx;
zSGX8Sp<X?M&MZhmqkxckiNO~MITKXnZp?C1s5s+$_gE$M9;;-%M@fNK7`6eqRUnsE
z*jp9fEkMqJ+&knGAovRw&y*k57p6}Eb03N0Sl7ZX(XNH<@!lq~EAa_NA|Fbw>o1c-
z0VIDvx^M78VAdhZmF2c5Zx%R)ausxkauu{id9%Q-lz$+RyZl682xA_Bk?<U8E7CJ%
z++g?=gm-O!AYY*@fs_-RNxkd_;dRR`Fm4bykg}!(&HY?OXZ)YhXt@Q-4FU&JHt39q
z6rZ{>E9!<@AiTBx!F*>DmTuJlETgVK{^S+971B)_b=<|nB8C3}LYk=>DG>kwQe@hw

diff --git a/trafficManager/__pycache__/__init__.cpython-39.pyc b/trafficManager/__pycache__/__init__.cpython-39.pyc
deleted file mode 100644
index 8e4bfafe7204dc5968fc7a038674711df2529afa..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 250
zcmYj}F-`+95Jhcg$(l$xNE%Fwgb)WH5mKnqjE40rF|xfYd!uM?10@xw;1VuqsJH?Z
zlcnL0=8e8){@`-C5UkIScl*He>tz0`W^>D(FBw)?>Ba7E%AF+ntX^g$nAOBHn!n0Z
zNxs~QmHOtC*sSWJx?E;?%%$pa*q1r>Jw;n;>r%u(MJGZ(tu#REJOR9kbk6AsKUZeo
z1u{n*BblbNWbRzpx&ZfwNADUlBy3yPtTEyfB?I818vri)vFPj2*@LGW#ouzp&{C^k
DGv7n>

diff --git a/trafficManager/__pycache__/traffic_manager.cpython-39.pyc b/trafficManager/__pycache__/traffic_manager.cpython-39.pyc
deleted file mode 100644
index 798ad0eccdc91c5fbc9b4088ee2709cfded33332..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 10044
zcmcIq&2!vFcE{IXFqjVxhZIHX%dl)q8k-);ADeY4iXvK~9jzr&mMCWpuY&~#APEYX
zp&A%kWPw$wm2ydytCFgmvfeH7;#!}QYwpQ0x14a;s#GrVpRlf4Gr!mPnBj<WzQIDX
z@$mZf>+aX@{a$12dR-TA{q~>!&iU+JLHIX%7`<dX+`t`P69vH$Ou-Qy$rnwL|CdY&
z|7Bke6jKRGW+_ljRU{t8F9({b@p{Rx1iGp7y6RVhnpq3#W<6+_jbOr@2%2V-zbpHb
zLCb6fQ|1(Z*8J(<gn5G3EB;Jy(mcuQx<4DtnRC2e^-l$-&C|SI^Unll&9lKd^BjM!
z`!5BCX#_8uFZ1Vye?EA{e1+F1{8xk5%-49m>0bygniqL}(!Uh6&35p*`Fik%`9?5r
z&U1Rpe>3Qq9bTXEF9%o5E5TdlTl`t_-!|WN-`;=6efK~#f8<QtfAFE;oN#8I3C_$@
z$^5Y+JrLR_ZD=9rD;r*Dta-j`bo;%?_IjZaZMcRPZ24~Bf)aWCp3z_9)D>p0t$E$M
zcF$gSnbGy_Fq}8O*zmd=M!<<_>nP<jLN6HjT*AEJ^}7DR@p|jVwu=VnaMj(gx4k|y
z23w9Dx#7I-xLq%#{sQ|EIOh$!=NMbQ-Rt40W8996LFlGkY_a~f=eUl+`nI#q?5z#X
zoXhrlYkd}^%13=;-R-#yeHhSe)9prm=0Ofv4A+M4!&ZElL$y2lw`6@wZ8=eHdEF>c
z?s#F8lpgk=Wm`<NNAAvQ-)0W#)#cUDW!t>Zb}6a6pAK)plJY0%h?8noS=rfglSY@h
zP|3<VPfi|vwlKL-=(@eOlr$ID`?s>WxobaiS<<>Y@FVXC4Jzp1yGPUIGCWOjo~+9u
z`NYE>Ej8==zU$m$u7h#)iNAEW@3=m?n_XB9F;U&<xo)c?6fm|%7_$zN>72%UA9g#L
z(?`3k`dB>+>a2O|(4g^v?5&H5jBHp)TS;npt2=hjO=>?G^txn_{7GM;CH8r}avy>|
zBr|}R3e3rd)U6%pSR$EjqQiF6mETE(E-mWlrQzWQ?(pwXxB}dXK(54;os+KOmR!{>
zyPBhXRdPy>`mAJDoU)@m6HMK$x;3}%HrxrfxhBmCPUS1b(Vglu#he6<=q-0@PT=oq
zUrA2gY2e*7s3*WZ@s;Q_ok>t;z*~c~3HKy#HOpJHzEYhjXBzM4+*6L^rc`Q0+gUMB
z^Q}CaG%&i6ooOrZle&THDBZwbx6^G4L${;<lTAzA{J(EpJ{Z{Ke{b{hRtr(Yyww35
z%vJtO`i6s`Zv|xTSB(|8y9W>NE|YJdIUMm?250FM%~n$G?tn44#!<$|3)~@JzIF4x
z9bPpS4BBTfU7PLXu9lo3Ia^{kXsa8rdpIe0+flbPl$&mpObNbe2JmX+Fo(j2+*|qH
zM(;iNUkLAYxpeCESTB&;#!!U2-na6#JyyzyKj4n(I00L!M|x5F%teg1MC6D(nn3G^
z+8^WMMg=W>ccybWTh}aVT}~&lvttK7+;oXAaZ)KJE2)hRI;qlAra?0KoKju#9Qj3c
z3HMFh;XaC3j0Fqu1EuH*D5Xe_%TMW9iG@wYfyby4z2s1-#=?I2KoEska)g1%ZpBhh
ziL|Hmt`f_f_S0AfP3N>~tZ<qiE1=altsX-b+WvW50<FPm6S2x^e-o>qH92k45dZ?@
zB?b^6B$KxmZ{B`zdwI#ay|l7;|C5C~?N*`>cS%wq1GmD+-AX2(vu<{hWT@%HCM|kj
zSdB#ulR74@Ace`C6}pi%*s}8QY554N6r))aqS&ic)TnrkiUt)IsHmez8tE$JcF88_
z%|#S#Em1<(Ut_Njg$v>BdDAO7m)T4ewFvcCTXwYZjlkZ<+wX2%-slJJ<uB}=o(nT^
z+{<^o;DHxd_XexJ*Bv*c%&x2y`LNE`PNG?s*YhIF`Z45%vnT{j73ohG8z?ntT1@|T
zPp%ws*`2&)mlh<y;Kl{IxkVYM5X^lh?1_=EDaL@hUy6HDEbU8VHGD;tr6U4Jn1cHO
z?(hQ?u|Q2XrAJbDhS%kN#Sst0M-n^lNOq}bWE?6ut`{6K=Xl>yY=l4<j%vS7=#hMB
zex*n<3(yp4fYlrW;LC9%KrZg-u-*oCS_tgL`aw?O2x{nbNZ_Atz#DSk=&nVE%~<~n
zgBk;|U9>NfbS}nq<~i58-(R(TW7}q)y$Wdg(c-7D<a-ZSh!eI(YFxYnQ5Rp(4fEDF
z#`|&phyC0qSz{d~qHQXqKq5M3iE}Kq%dCVIG3Afkoka2R(k!ET6NYD2Xnw5jhRu>n
zF_@&p)da$kF&Ers)8ZY7Nwj{?;*+vWYfbw|C{K&hp(?4cIr_hQb=>A&v<*Ag{C?N=
z!|R<~Xj^1|2#IYu)mbAPOdB>SA*`?n^tbSu^CVian`v7ORb-d(co%o5q7WplQ4@DB
z{a1AY8WdNON`d#2dWM`s?76jmqB1ucuwIwUJ-?<=so>`OM~82Ygni*a*i$0x9(Z72
zygA{t@KoF@#U(t;v%(&EVI`Jh2^^?zmNwOc(q5T-GkD4e(w>I81}T-O66tYyzj^=(
zu@+Yx=}UP}N1NJyJ=P&X*lcha5+qc?IdLG|5<b81Gik53SC8wP&1iD7g{}9ukDtZ$
z{i#@rrVk|SWZ9kuh4fSA1okhnynn(e9f*!PC+s!ihEpDZ8qGM`Q}Gv~Q{J24yp=iO
zuSE7PAKA%SY<0BP=Y&TkPR*pDK7%*2`*U2w>VeE#pTe`4QmEYlX2Uv7lB|<>KC^kY
zc*m)bT>VnrYw|vzBc%QU^>h1Y<8s`X6Ebc-$MM8Ld2ceFjGJ-en&1h0t>`7E=G31F
z`HVajc}#4?&1{CQ@EMwlry#Qt*X9Jvh+f`5A5R^KaVxG}6R4aMHeYcXe}ujte@&}r
z$<eF(uQ?NO>6e1jOjkNqW`$o0zfulFQQ&VUsTQ~3!dmukVGxB2JL<kD;upE>5Oe~W
z<wgfUW!T2Lw+%;C*ks2j<RMv&kgA2mM~*D&NAOS-4ULu5X%(%~JeQbq;oPDP8(z+4
zb^!m$!lR<sJO<2|?z1$Jg-76i6#Z=t;L4CWLt@WxpCC?kqjWF;Ge*~D^F|I~^A6{S
zic?E?@ghYmlp6Z%ycJjTsA9a&ETQM)F0%aW3?Wm2D>$yjF`}Rca?wFPfc`MYP7eoC
zjGK;bysKkJaZDdLZNNI&!z_jl2532QUA^@9gB~*|NO8sOQLJ%}5%^;38C_&PfYGTM
z<^lNxkI4SO>)F1)gM*aFNIhLT=>8z0^~NF>W;%><rgUosXBS#7&#dFP2ig9PMMm++
zY*NDEbuCOQ&$vToz+0Nt#SfRQdv_L=mKN_PDu#U%aY*u<rQJ6dQwyT;_xcfzPzErU
zFUZjHHjDS^B?bSE*?Rb3(JHXz-Gz@9@3Twj0pWt<vFoU_c@#%LiwpwYA>9PtV&U_1
z@CY31Yzh&<7nzZNme!<CfP5YUFFz2z5tqJ^lhSsC(-lTuKhc*Tu2{<-SPRRyF$+@X
zN}^{oVR=qc&g$cVv~rD(i=J$;>%SodC{`(mp|$UKFO0=1TIXS?EShmly*qI;OB2^<
z3tu&MCp*S+57}P7zh$hz4}f&;%^$ql7ZQczXW7Gn4b2mKoyOJ7Hg%C-vNn-599;3N
zHkrv8jx2YW%;xmx)}2NP5JIP0>bC6<+>irkvz#SH><wZld6650>_gP~46{E$&1|Md
zY-Rfo!+wvL<#jho^iN3GA^;p?Z&EWt<Tz}_mMap1)D}AQmSB9M(7bZMpD2{rCVFAr
zJM1iRXpZY{(E(4Q(n#DeDf|8PbtKe@LSUdhox%}rUw=%3Z%}cK+D>L(hi4{fO4E!s
zSbwm-!AX?lu=k0xF*bV>!&&1Ai&-6UN2Z?56w-0_6YA|Fl0mx%#+DAd2Iz~lmM0yd
zsnILSKg_9g6Vs+FHZe0v#u$M5DQG{(9X>%JOlVR|)MZ`N4#_|zl$ux*B~kibE$N~n
zs^2T6rbLvQsDiH{YDhs8@jN|?DsNRIfGFwU0srq+wZ;<_w3Ibj0k`_St~9~l5Sy|p
zofCCwcj}mJ(3Y45mDmD`E^XfYB8W?n>?ZDz)&l?l;EG@vpwRrD5>qNHZj0>9;~Lds
zz==(1Q$}5h#lJv`3^1l#6Yy4kAh1P<K;Et(-i6#K(~0^S$b56OOX<>cZD<*pO$A?(
zvDy3>Fa7~{NH9^ryws4U(L4YwV@`E>_qDN+=G*6}VE`NRVIw0dE<g)7rfk@BFtCoS
zEf#@0#N9X(!;gD#;8b{Dej?2y3@lkMpu~L+Y)6i-C_^Fu{@DZWzLzua{rT1BB?5hL
z|5FI#CWY1FaD5eujoa9L(Ebs3$bqz~h`SeGFbl)&kOq&onr<_`;rQ13Imy3A1)m@e
z`|(5<CG`a~|4U32?1G>-9hykA;&F+??y@7|IO7svr5cwvML<8Kz;k3f`vBsaBhSIC
z9$!HXb_1J{wgvVzj#*GkX|N_`vjl*tJW|-#<8-n%0C^SgeWV4~pc0igwYc<@dgjt$
zgIB;++0^k|niJ4ckE&=X0q)Ag{j_w1mjiZax>RWT?~jvl3D^rY$SdPGSep|7@@c%u
z5xMmva+8?P2_W}-PNfHkzgLZ9r|Q%IsMY-j?JEM*do@t&&r$2q#D3Fh#8rUgiMU2k
zIj*Ce{8gDlW0gbWe}(-PCbO7B$Q(utkznx|X7qy#A;=Mk5)hCLU4pVW+$>Hi@dc(c
zwDASDK4#!~XDJrGMD5yFja$c_q8{me72cG?w_L&y57EXcV7GDUe(}-ZszG%l{g9L)
z)zQyD)G)uEJO46%SUJLc$3VMcdP(kzacK?TLTH3JY~ZN^1*4<tkB2Jb60iZ9t)Q3Q
zAXvqBInp2ag4(7SF`Ecu0}HWA=ggUqqmqZmea5AQ-cBZyAC2=v($Qn<Tq0pDWE{oE
zwviP*)@!W{@Lln<PtxyU^L#ZwgZ}eIM*93X8vNRV5mC!g6-EI1arw*()0p9)ml6%h
z(Cywr|8^oh`Iy~;O9CpSuXDF=;XGv!Ew9nLGT;a(AAfs@>s#{b9N`_otmN;>Ve*5v
zGpMW+YMmyZpCML>A)NiS^jJX<qd)`<T;Qlgy}d*z^&5%Z#w!jT#{6=kUn6wZ?FU=e
zW$3_hDT2OOJKTNe1r9n}rEmnJ7Bc>q+OrQx&wz@tsM-UqJf@%q>tyc5(Acf!NfkaE
z@3trz<ry-@o@T+jlLam8BEw={zde~u<$;$VQ#LBTTq!J-eYZCP1FEDI#TMpM!Le}#
z$rE4MkkKy;k_NyjKC$*(Yjub4839?gLdEA){27XNBMp)_h;Up?dmk^7GO2`Nq;OB?
zhu<8NBG;hZ!QGdca`kY+XZJm;OBD={D&x~fr+5F1J6uH}v=l%Rg#$YsKu*JYH^kXP
z31CG9NFm4vxCh`uC5JA*Yv@g)95&>XzbVdS&n>i94>ct%6>;WJk#}GEPi&_<8nkI<
z3CwUX_iI$}ZG)g&jq)!9W}K!Wh^rK!Lxa;)3eY$`!}-~!fYAH|CvT|52zLbXvatMQ
zl*U7{7AXj&87B|NT7;803dehu-g&&C;H*;6=V7=4?lcU8>uG7P5?2t&N=uAXWouN>
z_GarS+Ik8cw}`-DHb;+z*_bkNS#CD$F|m-rw5vaC3@MuDp0G=8A}T0>Wdkb4_DCNz
z{K!NI-$exnp&}vowA96EEH4%`TUuK3d}&oIZE6m?=U=dFBO9cxF44u#ql@+#`Zm!+
zB5GNQZc&yvz}F8esae+Jf$e8+%9iEyyOzZ!(T2@X(V~I?GCM&9Da_AtlM)YDjC>vY
zlnQczY>A4OsGwYh$yA)9g1|PLrQ$w{M8>HOBU55z@Qhq1qgff5DL!ZK5bb3Y7jTE~
zp};h?0Il=C-=))oQj)%_&1h4A@rSifu}=<b)t0UT&g;Lg-O>-al=gdU2Qm_cl1D~o
z(TR#(3b>uB&-Eo`Om%CA4${)&?iSo`(C>9d@;yfT!fa$Oa-UQNF&!57KV&(K?8<yA
zI{LXM|9XY5NBBKQC%^$$kq@V|^aEI(8lUDl0oX=XH~%QfzmAz_bB^K*CH=&v;F%yP
zr?LdK&pLoMh^F+pfM69;^ClRQQy|}^kK)u1?5j&Z!s+nX&ke%-(GL&8&VDvBJ`ip~
zQ>4PhF#);OMazsZG&u8(@g}*>onfP##4XmG97LWUc1C_$l766^Na;nk#jP>Ps0Auy
zb5N9>qT)0aWZy}NH%-qTnyDD5mFDU@seO~pCn}vn;G>AnqYJOIZIZ%+3Ry3=!sCoQ
t(XOSN@;dy25YlOgQX;1?E!N-;&WKH=20u@KP5h;`S$dK*S(g>*KLA%c;A{W@

diff --git a/trafficManager/common/__pycache__/__init__.cpython-39.pyc b/trafficManager/common/__pycache__/__init__.cpython-39.pyc
deleted file mode 100644
index 8bd74b3468a5ea0fd6b8ac6e6187a6880454c80b..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 386
zcmYk2!AiqG5Qej9O+ujWuty8FNkdTxA}#hLRZ4phdReyFX|s~-hTT+&PoqaqK7|(_
zVGmwB`3j!g<m3$V4L|=d3_}Nl(6RCL@y<SN|8B+q@U58H(o+lOY#oM}Tc9oKy1RA3
zedxXP0a>1O^uT{bZ6b%c8)w*iuEP1T&ZSE6l4m)H1HK0lE@%xYPU0jP#TTRa98cnO
znxye0T!79LuWBwuio<JJHHshd8lPsvZXWL%yt-M^-5H)21zxwN#%s`^9)XQ<_+xK%
z?uLQ!31KoL#JEzMo^G`1SG3NJN2>}1Gd|-=&=O3bfEJw<5VGe55c1}z_B9=TXHhOo
zh@NO8Aj%|zXvxbBFUjh-D|i;withJ3yQP92K-r11lp-R83tkg4t{M|umXaL{xI%WR
L_AL5dfCBdqL<nui

diff --git a/trafficManager/common/__pycache__/coord_conversion.cpython-39.pyc b/trafficManager/common/__pycache__/coord_conversion.cpython-39.pyc
deleted file mode 100644
index 358e8f9e9781913a2da7f8e2fe6f8b26b7666b4d..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 3148
zcmb7GPjA~c6eso1vg{;o{w&?P6~cf4G0?_IS9C!z3>#V$JFLUd^puOBh;*XVmON5+
zB7nZ_+)vO$d)rR?0y_=Zm(XFCo%#)iZHK)_*|nNDO(KC$kB|I4Qjd>6GF({j2t0rO
z@hkhgNyuMVsXh&;d<{hk5RB{-Mw!v0`xL%r&*+=`CPkaov-<YFO$m1<ug%S=-nBj?
z%zo)Ght+<v_G?o+e9!iBU)ETidC<#c#vW-m!rv(&-m{}v`u&s*d)yz0bQCi#{q8V{
zvN%mZONAe$$%u<AP7eJ8o}F->_>Tooc;<%*^B;yH<1!8t=$8r>Cm~e*IPvd2^5r0m
z_@?JQp8DJMe0c8qU5yX2G>E3~dyh86=^bC>Si%#K&%?nWyyMFZJhpdz4Mq6Faz1i8
zi|V*pI)6f&lY!q3hhvwsz=0(Ucg?})|2K?3iA`lz5P_$>%i*6RF3S)+Nm<;DIfF=~
z{aybk%La0{(>ds+hntaP$tHxiGu+z#{QiTT2ix~M5T!Wk@eboz824mndu!*5`#W3P
z54<;!KIHp0E$nB*L64)drz7SRhB$?i7ZwJzaLRxdwhky%c{UVDWFvm^K%Nq;KZGJ*
zfXK)zs*KlkY=dTK%~3=-$~rbz$xSk@DXQ$Uwob+_qsn~SRtJow>daUnV6*YNikgGk
zIsvbq@|gMD5Q#Fzjbs)2*RWlAx1d!S;IW}<%2l3fbS=nPD|}%<&c2fb;rW33unHmO
z-@G*{GeP_KMjTF-13ijUf1}$=!whom^zLl={Iu(5NBsOSr6&!|XVCn*(D0-JhRPL&
z(>r5^iiTno!ea6(VD;kr8|lF@kMK`R1@|~4R)TvR|F!J({+Z|yKGjK7iQ*+eeD9)Q
zC@+cRrTEb-EF<1aqd3c_QMnWgyJUvO$|L~q1-=0mC2t@ti9oIG7FIvZjtVnMWns!V
zDJUx}`J>377O=u(AgmA?+D&0040oJxP}ESkAc_W{16YYH3`Eg@&TlL9w4iyhk|sRp
z$H`CzIvD~1Ug@YXVcNeCaSMF>^KIuS?eoq_m?yjwrHpsJi~D<VKlovI(2Ju^Cc<tv
zj-G@`c*q6x==akEKEUEZ$@vn_fXzW(tj*=?6&OUWf*@-i^^8Tj2<21iQpZ>|#3x{H
z*MNWIg?}mP&?mw_pFZdkgP;lMXHXOwJIX#LifXd4kAW6Ib2H<WsZ5}dI%t;GJXKdN
z5R9j4nwlEWVncC&Lcjtv0<B0ps`1(wH^FO7nc!<ddsqNpi=debwIv`jOEtBh7W8!0
z5_o9cBI6snwzx{h%RqxSR8uW$YBIv#=1|jNJc84*+)c>za~Vk@U(Gu;a6il=Dmly2
zXSi7_C+{?6#q_-K2WgyS6{@OiPz0Y|3tZWq2+pquu5K?4pKY;==X-|h5O<F6E<{h*
zZf|mhKyYb-h#!EX@+QGq<xn`sXjh1KWtnG@hRuFvo$j(Un-j6Q=rdS$W!%|O*;Pjs
zcwcST#Ru>a>nQL#AQn(8f+*Z59po}TOhgN9AEC_zl5MYu+i19u%&06323HZ53#1FN
zhR8-FQYi!AnuLiZZDG6ze3v2X6-&r@?--B~D+X~BUEM&ji~=dI6d!|Dtj)dY?Ld>n
zcCv0!BrPbkMQ`h`N1JpJY+?i2+x4Or1T2k$K*ynQvU~u?qd=xFTEh%(VVl69c#NhZ
y7bco*eSgr@r=3(LrKhK7=6+dTx4**ULi!-A1s8^Hng%W3)_={<rn*5}|Nak)=y?AC

diff --git a/trafficManager/common/__pycache__/cost.cpython-39.pyc b/trafficManager/common/__pycache__/cost.cpython-39.pyc
deleted file mode 100644
index e22e158e4eec1d25a7eefdc135873bcda8647511..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 5942
zcmd5=&vP3|6`tRcWhr)K$B7ds%q}cgluJob3%l%w6fWDF4Fo4;JL^J_QjMou_9&wn
zrDx>elzbuwt{kb#VN;yK0g69@e_{??C=NMuqlyaO>()rJt*r{nZeUcJ>FIvcKi>P^
z_g=SGsgyKafBnm!*zXrK?QirleiiZZWBik{u4znbXiR5DsCSHpp;Orm&4wkPcEiTg
z3Y|`&QIKtRSnNzSrexU(OP%S)v@93Ga;MU$=o+u^DSnR6u;O!zO|jB5t1*i@gU@iQ
zeZFNZYO-}2tz}k0YZa{|f9|=-X4ouh=GZ&DfZBP~UqH+G=MJl~xo37`VN7<OU4ZOG
zCC5y*fF3WhOQ^dvCbh^eqh@ie<_cRv&1H6#U3;cAuCQ+~7tbYTZfmu7z4xG!(#}DU
zxSg2wLhg1&d>AmExUF8~r$HPgZW_D37y7->OSyaKi6HJJt{*2Ugks@(?tXB{Be(0N
z2W}AIJr!Q775HxA^N7Uj7=b5z@J$f;VUKY)>BMn*5b-2gaSwSI`$2l-vY^%Cf=51I
zanqoKd%TyVo*$yL-wT*0TRh+AAr~IaZ^dnM@o1%#q;Yq}^&;kmUWBm@yl8(gWZlL1
z`2xK#iASsS+>VDi=ZmGaieBWVkk8jlI;fXk5u$2(W<Q8fv58XQGky?YVkj23yI~OV
z@2ykyy}e}Ts7uwQ9pSaPpT^>-W@RO)W$>021#dO!ldSTD2m1$U(~qN8u%9`Cr#%t*
zCJi^Z96ag2hJW%DH>Mw(_*;Fgt*vVhw~p<;-PZeh8@OK79@)wJcsHn(>5E$1cw~wX
zb?xz9-$cFH*FU#N{)K)?W9FRpfp%>6sm30>S&z^44Q4HBeREzz$wtYV*Dh*6jN^Sw
zh;ebP4KYF58d+1C*^OH#fKe~WZ&t;A@{uf24<m)R%VVngNSaH+3FhF3Uf2Wj>ch`+
z-MPy{wX09ips?eTY9%;nYSh!{>l6BRms#MaHTAh_!Su-zJ%z4eCxrKLNDLOVCCxRq
zrdAkxsp{{PO4Jkt)Th0Ajq8<xQp4VD{(N<p9%~P_YEI?=?I}+(J;@vb@}2d}Jo27o
zMS^3KN~YfvHAfWiwIFH}Q`Ap|CP?i~a-l|1zCtpyWrr^{F%PkS-n@Pgclh-u-ciJ_
z`!VC!?*^UipwqnH+Y1B#I!r>Y`!g@{_PKyWrxQnbBx${Sl$AzHnn7>LEN)uG(k;ED
zzl-~2ebx}5V6A4!`DJCY6`UJbPf|HiL0o+T-Zm;M{3X0UL?P8a*NLK^X@Ib?uKgNN
zJvLLVZ34J}FTwVOL12XoD4+tK0H^J>CxdeWy}T8a<|}uXC2Rabf@8&vy7h>8LU>0H
z2hbZKcQ{qj*bsgHD+mu~GvZ~bIE7`Ou$*6nW@4>v{F5qf`!L_b(lPOp_FLnzwXGls
zUNq6|OCvMtH^dwSB{J3R0$#JyO<Fsk*S+;V-v5EW_H>DKNwcWmM5q9X-$Ef56J>}r
zO1sU^Htsgp?|kw}&CZOdo7qyyqJma<QxJLKer83n=+tcGKNr!W{HHWnYQU3$FXaQC
zo?bC;_zpf!h?up?g1(@OcTlRCs$=p=1$EL(e&srnP$z%v1L$B^VrnpVTbD34pZ<LU
z!BRAQbI?lmT)q$H8z4+pOr+DdM~K5EDEKtY-R6#%h8k*yvXP#mB#BMxk2Exf3yZ%0
zA?gyT(`oTd`qaq^hbj;&$|)jYkaUwdgP2;5Tdjnr&6e;wTp5KpC%<Ss8crJJS12H~
z+I{fO!}hV$ciLL2BZL~F-nUa?Ag%B8^}hMSLg2I?7Y7nHB(|i4lS}li7xoF60%VF(
zrkKkNd$GY^hWF>m{FUcGXY4<Upc4b^Kr!xeo~o$8lvl@ll#h%;<EXa@@p!CpB8+mi
zyUXO3K;0^$FenU(05T$(!XcNV0g+8n^ruT%=tLBL)9|Z0aMAzBxbAWgrMGSjAg@|n
zX?Dq^n1ukR5)5csxf(_*dxM~U!W3#DGNjk0GAl*eCkR@ZeQ)Q}jjgPbOC!BY(rh+Q
zDS4BEa^Pp?+A5?*)xIaP(*2F~jqRPSJFA=7{HUqRk(H++@S<8ld<%mpM|qD*-=-VU
z(ID<)*arE5)cR@uGSP4wvdJ~vv>8h;>Sf*0i?54D8FAc^Px)?&8<6nF8H@t;Fc&3u
zo*1kR)FNQRSrDdQ7!<z2bc2ji25NgU(DM}kKLz^8gkJ)=Z;t>^EKh;w%f?WhiAAXY
zlySus)Fo8Egxk}le84XbnuXow?FV<(HxLo8(su+3MaE{*>tuE}e!|5dos*F=bCh2V
zqGUe8sflF8yn&-b6(!Ft=v7^OAMbg3IE6g48^dRlFUSokp`au~ax-C%>5?aZIT=2A
zckU>kBFB@?pU-C^QT})M$rmxCKH6^P<d@G$ZI)?2G8$||gkLiTH{*yC_hX+w-0Gqn
z#i@J5Q#a^zL*C(0%9)zdrZi`s%=`d~R|Yy2krybvA1<(&tC)hQiqRGE0m^3>WSH)M
zSDN%#?o|<RtKbQvZ_++i?n{lwCGduc49Sq0k>$}5&V=M>{6OHV;tn$6$W(MPaCR&D
zHJfd0GkIo(W3fl2zt}>quC3*%l!*_<-F6TeP&+B-7PRmB4VjI0l-e|H=w@|Ud&YPa
z;G{ni{UcY(jkh#zJQ&d+BVMHAg)?S+`mYH#q+^_~%69Su;s3{Y!=;@unzP&d$;Q@C
z;c0S{Vkb?;SY|VNoG{;%+|W};lkAsS)bcwRWXyn<b@4H3PDB_YQ;O%(fMn}FOt?s!
zXJfO0$!zc3yDxqJr9RQ)EjniV1HM!Kt&1O_{N^K+am?}Q>gMf@yQ`ZUDrDS52d9Ha
zNuA!&`Nto}#=3=aO;_pG)vVBLve<7nGY5HB5bX<ES7t}OPWMQ~GGdqPDqt{nq)}H#
z8udZ)Cn&;X)m|EeN!{=51%5M;XL*7+Dw|Oac`B8t>~2=oj_@TYCCV&1OUi8NwDJ@r
zD-5>za%(8JE15-cAu|#4WO60Lp(IJ^Y|>y-r-BwcrWeV)a(i67sg7!Iku4K)Ldz~A
niK8@5{!9Z&T=~*D-FjWFR%f)=l+2Z{Rp(^=Z1sHge9`(hqn9a(

diff --git a/trafficManager/common/__pycache__/observation.cpython-39.pyc b/trafficManager/common/__pycache__/observation.cpython-39.pyc
deleted file mode 100644
index 618cc9a52a1e296aee87a6072fc138b3a9b7532e..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 1613
zcmb7E&2HQ_5GEz9q}_NO!^p)w6znYv1m2#FpoozGMT&G&z(o%V0)iH~UbYhDl9Yoj
z_SQT`U!bQR`V4&u9eU}huTUUBXDG?u071}lK`wuW^UZwoiDEvV5omw@@tbrLLjJ<V
zev4u81iJeQ21yDcsf;RGM@3Y}MNDxWS4ll7CSjgbX`K~Wm`|#_o)%L|z9cf0*;^vB
zpQB<X^9!<=iq9w^vvXEAvaJ+bH<s1Hh%0TbSaa!=y%AnF#xZS}VBU)LT9?e}x~;+i
zQ|3n7#?;FA)7k9Xjdr82vN2w0xav2Gy}a|q%1Su*h`rh9a>J~;w#vb6$AsC3WX(F<
z95LSmdhQ{hvTCKm$RO&vk49WJt!Fn1TvrM(09soHLHWk&QdG=&;T7iby()1Jjf9a1
z>;>MzL^0s^;Qj{I$s+2K7vQN&p6SvrXqSE0<G}Rr0{rR{vJ75eXM#Jb#Ebhag~b!-
z?hFP+3JS%HBrRf@szgmrh)Pukv;2gtBUmMBdO~C*<6jb)$jRFY6fT0oW!=3!O2zM3
zMF#D>XP5crj@kc1Ec)mjd2jV)>y<kTYdjcvWe<^uS3~-*7iawyG{JVxDmcda4Hm#I
z(*0p>`#WqX(w0MQ${*N6<oJ~~{t*jUfz8(+fRbPb0u^=(!o9vm-40>0=g&ZU&41Cr
z>1~Rm4u%vzjy<M{|BelM#|U~gd{k5cakWUgd}Oto_c|RY=#D^3pea6v<hs-<-&#{9
zpq;VdJc9lddJxqPB-K)Tu%jlrB0Iv#E($xJ?jjRu+@ZTT?0mk92OF>eQPI^RwmCSm
zQy9AGEi#0eI909h4lTY{zY=>0fB!sPZkk#x--xYI%d(Mb`9jwhy5`@smz6G;!zcVT
zJ}k<DMO`;$3Es!&<@9>n<(zAyJ?Ec*ONZYHNsj3;{prEWJ;Tvx5wBLO#XY=bM6EdQ
zW}Nqr7|ahi|FIR-aFTH@o04;jJXs{n;(OY~ATNtR7M@&Uk8r?z_J;eo%wU*9cgHZ~
zG?^0$zjqN$=^@SEg>#6-K7ivc^;;BSj}>6Dp}+yTyWe_Uxzk%}19o@R@7}&k+deKt
c-isy#haq+O<386f;JYUdYmuZ!^Z<YHzd#<w;Q#;t

diff --git a/trafficManager/common/__pycache__/obstacle_cost.cpython-39.pyc b/trafficManager/common/__pycache__/obstacle_cost.cpython-39.pyc
deleted file mode 100644
index a248c248a82323b6d2ac37dea263bfc87672427d..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 7339
zcmd^^TWlOx8OLX4XLe_2FJ9XlCvJ+ER;bEWjqTXEn&2dL2((QTlUS|T5-qcPX4kVG
z&)R3kaa_$xs4h1Nq$2SG3Q{5=M4x!)rB5J`fG3{j0U_~#f+_(*f(o@U|L@G~#g5a^
z=gw-*ob#RUT;^PU-*;xMLcx%5{pnY~VC{+|{e=?4S00Irxcy%vU{Y0LGE-c+DvPI5
zP2rhx)itfEt);7JnetUPv!+*d5!c-8no%`m$<EoScAlm0DlEhFx7BKa(vZ?`5Yz0U
zou>4p)Kn%Vmc5&02FpQz#MbSSZQ#za{9TO|SP|0EebNzDf^@7e9f$Vl-836x<B*q`
za#O05-~5AdX){>q@Oks9(^#>+mifBv8JDfVo;PP_W@nGjoH>4C);w`?{?y$3%qiot
z?Kily9ylFu-ZYFW9d0r^upHN)H&%jR-JhSH-rCxl@;an4<#(pn+pbkVZn4(%V#g1T
zU)l5;ly&^XDQoUby?*+{tUY_OJ~Mar#F=vt%rxg3=bESMCk<n<v%bxp)=FR=Yg9yU
z%=)&u^zv1!{(^bQb<G=;>6<rf-{!Y%Hf0(QFgMb*iV|tdo9nI}>DNV9Ew>^^nb+(U
zr{UU&8q3^j+l`>Zx1pQbwzi@)w}VaYHDszGxhS5-y@=aCjUbTPav<GPLg_v|Q}k>p
zy;u(Uab8OyX<KFT_i31wH-B!JxNdX;46GTf*e04ZEwAO;Q-;X8#9J6aQlg7;k2T$n
z6;$TU<zaQx@l0+p$MXE7<PFj9p~Bw!l*cU2t?jrhr&clI=9(37=Z@LLoKY8A&TZQp
z?g+Jv!O>W-y>3^uNb%MqO;i-68XZ4M`HmN5M7QQ<D>A2{c~{~^JpTK|>6Ol!J-uaZ
zd-imr!|ds+&e~09t+upTcb&#`z^!J}X}oHAR?FtlSX=9O)1A5>SeTL;st=~tw<AMz
z)~;ay#%a*SmNX{h@~$GQySxNhB^w!bt5a*(USRV$?qcBvD^Zr@TMk1sLs6Pn18wwm
zDc;kic%n;D=<*DzZ|Dem*I`5`ox<(Eh2?+=mP73Lqf)3)*i!DxU0p~uAx-zC*+2<X
zIcZ1k8i-{?EQdvrx~GQ5efhg_U0H^`os+^WOVP8XAT}iFrQ`g)DbjAKScpmOZLK7Q
z>S3vy|BiGoO-r*|pq_nOYJx;eds`3lm(d@{i$VisyCXp+90?0YsGlVv%|SX!<yabJ
zq;NDYgBr8Q84F9{*bynzk4W9|aGd(elvVj1nNJ~wcj%>9=B5-Dspf7OwdrA*=}iBo
z!W5!eKb4}?eWiN{I@ypyBRq6pUZruJVA-%7PEei1z?%}&v6&3(CzuYgRTfw5#;WNw
zX*qM-bbQk?8y(kmd|K{xJJ_<Z!m$#}+ws=NmSZMnTP(T*civ!Sna2hjDcObbl0y?6
z&KwV0**80)@!>Y6`n#CwidWm-&78=dR8%a^y(MGOlL~$eJwC1|?SkYDKgp{PhLiX~
z7ghA+_ddAXlV1AZQcr&4K{+u!k3dtHi#O_>j{Abyvl(v;7Qn4r^X4TpAe(~e_h9fm
z2e#5Osf2BL=55Q}#0vD7(*SI}R(}!1L-MiVV;1lWVzm;fJ=@~8AE0IK+5D4Koy>Rd
z?f2{zuQS*z@uE$JrisnuHS8gi(zERCO}p)QQw?u=9l)MGeeTT3x!IYMb2F#r&YnFx
zcVgzOsN#VFUUIUY4=C7UQz=WsE$}{pNJ|Q(Tg9#n_(&n(^aEu>y%}2-7^4*H1n(-5
zGBp#aPGGOSD_3()Y)5O@U&8qC5mXZy=dtet7?$;guOj^~+|rxR!KZ1g!o0XHF`?$!
zTT|!VPQ!Bj1w?uU9_gWq!Z&gIWdx#!`7SJeDDUj=pH=ty(@=_gLbgzJhntAiDD@12
zin4s|+LcO<XGuavO_;JM?E)iiD@r-u?MPncM=9r71d+C~z1|5TZHvejrPds;a+r@&
z_80{;dYt;k4^cql$jMmoBM7R(4*DzBx?Rm;>T7YdXIn9B)m|LA)!0IcrB&6OOG~iy
zTKz@Kw~>00QaUDk8BT;7Wn%NZ7%BCYY7YDhYOzyM9jA7<?PBrYCUZ^;HBuP{IMT2y
z>^t%Je3tqsrfclcnW2&L=MhNHOvn?8Asb3Qr7B}`NiNEz50za-H$G6Z%D>fup&X%H
z=sYFo<)>v;(dEy{WtmT-G+dWV0{ke2enkenkHp=J(%8ODrxn|Jn&#eBKqQBI5x0L2
z>z2t~HI&*?S3@Xw(}4nqFAeJtYjju&HN;@=4wLoD1aS2NEmYd+9oX8P)Me=%`Bt^7
zlO)t9r7pYyl+Ly@D5b%or6(m=(QI2!(iuvlCL=V$%&N-2v9S<j1LIy!lz|?38faZZ
zIxpn?dImKJ9nrtIZ%Gc?-_gIObaUN&nB#v7)j(+%&PaGWRgq+@^Pm{!nG7wou&VkC
zBApd!ZB>PBFKsNKKSNqfJt~Qu*Fu$L_vhfv(xh>e-Z8}tyl-w&DofPnaNTh&e4$@Q
z(k97KQhQt-8z=!!Aa7m7GzsD?T5e+#i!XMrVc!F%0lI;i2?3M!aG=faIS0pHOAZLJ
z-;90I_ZvEOT0aBRj#XtI1M7SKInu(XfCYeijXeR_473N!&pbAC@`#%m2w*t(wh}MZ
zJq^X8O)gq6sRwAu;@giq3<z&MZfJN^gt>}4C^!ug#V)ia3^1R>CWunl_mO-jlDCDc
z&z~Y;X3G|*t|<3<ZSnfmt1sPr>H4+G2tS2Pev&j)y#5M*j-ndJ83*`6<x!g2w|#zw
z6wgvXdv%D2betd(HU$AI1wKRhCn%VuV2<)tn$#%Uuz2FU8x&1CUnJht$QkrkIxdT3
zC(=Z#{5X}x5zpUrgQ%F;(*#rd$Q_kn9pc4Qi-)X@!hRirR8-|Oek#r*s!9YZ%F3=P
zmv)Ii3VtOKsvr{S86W6|DjTvcKMO)lATKYcags?x-}or4miI|?jei-fG#-nkF<4K+
z5>o_}q%PcipeYlo01aI0NgOZA5=(`dGQfm`2{Z#ONK@{P3|C*pc2p;^F?Zx0g=q<>
zehED3aKE7yVhgqnfCGSH0!n>pE|CH!eN^c{)ekq8f_zZ8SL|yV{a8*QDFblz>K+lA
z{rU%WCh$W0kO3J$NRHluDFb)`MPs2B=<O0vqJ>(FFTe|L9-=S)QWD2;YgO`>f>ERa
zX+Sv_rpqz1u52uABzi1QBee=x^KSt+sa|PTpqA;-MzI8AMU2Quf-x=DWCc;45c!+^
z<pD4~%ux9w2i7p?8{SkSobn~AW54_e`apd@s26w-4InI8-oYSTw;60S$Jc^S84P>=
z_VV8IQ{b%GCQIn~e;{-J_zhvRMLfWDQSdWnqjGs!kdxE5q9M=`76l;xN+l%e9~Y9y
zpWo|6F7R{6;N<;O#s)Cu3lK!9+qTQkQ~oguz93|d7x2$hl1Mw$*a1}K7f6Nt%7dv|
zEpXcsmZU}_#4nQiB??|d5RJrG#U~d!TQi$qrYu4#ze2&6C=i}+-~Els1Bea=@uyJq
z-$EdjQ~(i(Oce=;yNdcepbCc%aGZFks(`7Y0HTCcL%<ZE1x$fdSy!N?<R2=jv5!=Z
z+(XhK4C@J2Nut1Igx;=_GCoYF4*=~FdQnLqXk+r7X4AKWT9aECj0_YTbYkgU<i3&%
zFC4|0n8@TJ4rnZaqjFnWRrn0#skVv~LhSGv+OGjV6$NR~SZV8m%5obH9-J=~pJ71p
zgvx&u?xP;NkEns1MV&tIz@0P_*DxO%?L0`6Z5I&3#}>GdIWVNiWXMJ!8=*R36I4nI
zo@zuBSO++RVIF+~xe_<96pY>*BL|b}iyck|T~G{^glt^oqeW^f=5@Q=2Cosykc|sc
z7rOZD10p^TQXB0<dq|Cbfz)W#Uk*i_>4M9WzZ^_J0@oO<&i1ML^^N6?;T*M}^E0qg
z8<asGRU$2(MxT{%IvGBn3&&GS+EYb)MC|vehFD7OswkcB#S+@~Yaot`H;H>)jC;+O
z_tycdk%ra4Nbj$KN^d}4@Ou7WUc;C9lz}?=<UpU^hrTxqd9D2+8DejYT=G#Lq!93{
z6p(k?!j0>L3#}jjh^~KL=t<sd{r-1!z2D3F?GSMvh!goMD9K+&fRlEg*ipu{JiF$w
zsL<Ht_%0F%r_hdMe;<)!RF5_{@h*04;PM{?X&mUSJN#8@@Bm!HX{EFK5Vc1R;uQZ1
zmA^;<VLApjp*cDKle?Xq|0x;+`#NbpmfD2@wK490hpzuU1c~3P&^h~gz_t{_`k|_o
z0bNB&KLltsUHHJI#6wP=d!SwHL;F!*ct5liRrxTjkv}~QcX-HE^rvzt%G7GC)2P+N
z@J5=qxrRTB=<`aH#@`qC0>?pSiPQS1eg?BK^zXw|{O`k5a_-~gZbzlf0Dodl4b2-d
zKhnffj55hTD)DC<mA?9knWIk}jX-$qoGc2zMgetk$RG}^qJDm@!!})e0oz~lX_2Xh
nj^jZ|&f`<Z*oZ1D7yjx<o~8ffU&4`NH$P7@^<n-MvU2|e=NlBX

diff --git a/trafficManager/common/__pycache__/vehicle.cpython-39.pyc b/trafficManager/common/__pycache__/vehicle.cpython-39.pyc
deleted file mode 100644
index c948a40da307118692b96222283cbafa916ce397..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 12566
zcmb_iOOPAKd7c-50Wgbwa7pfxlsuLcXCbealx#T)qX#K2B~zl861kFN$TTvG9_#|d
zi#>zoE)2wFElYM1DN!meSL{%!WlnK&a8(XD=aNHiIVGt%<dQ0-d`qQVu0%=1eE&ZW
zJa$RiWdk+;^z`HJ?!W*3U)|2sR8GO~U;qBc;+w0A@^ADp`lHfwc)WR4QG`-bgetU#
z+EhzwQ!8mIed`UqX_Sm+s+8hyqmgcAN|~lvGMm{_wwWvCI6u|MH?5Mz>2zbNStu2n
z)1~R=OlhV$TbkwkOk=Kjq;!PSW@ElI@6PWZb&uUuOUGYTL{{W(D<bC_dwOXB-+5u-
z+j1A()Sgi~ft)E(Ku%##E1h&rch=3gC)|@_`c6vBh}qjl=@jbDx><K|QE?yPe-1fF
zRrN(h%-zX|BVr!)9!2YusQHL{1Q-^9<LDhz923V;_8GAt7H=yhTbS3B;tA(nT~TuD
zTQ$#awnew$+Ld<8cWN!q_P1R7ZFj3yq0ENkdA8FMwsaeg?+UxxZB_hQ8}+JfX*Zpg
zvsr6x+S_3R&#tv>$M&UDt=1~GS8I0B4Aob1xeJ8L_0HyO{9bmqob6h>EA6FAE&pPx
z+bo{7=@oTJ$RnKgMp##_aLZ_DXYH$QN4lQd@-e`qF1n}jk9GV?Jmj$JigYoPa)f;;
zdY5ahYJ1t1ZAWZMr?Un8NWMzRWqW<u-u8DpZd8fWMf<52V>*S1X<io?IgP00-inJs
z6wh~B71!QyJkYQm4zeTL+ckl2>RL7<IuVxfA(lZn-*es8#8~6(cq$JVy}u>f-Oa7C
zUu(La?{=d3JZugTt?x5_>ffeujZlALBJK`Yq2k9Q^x_$KOv$shs8#&?4SRBWUR-_s
ztX*xi9W<Pr)>(`c*<QEVE`zPz22XIk+iAG(L~~iTSJCG?TrbMHepuf1;hJ6yC*j4@
z1nbLollknhC5*O<-<9EJYTAwmGIbmYw&NLNKRB}HdMmk~kk~3}fl+C9b^}wmZiiCH
z$wb>CFnDtqfquTV8yGbBK)>etL5inURD+`xNBXW;b6RD;U9L*E<@(R87LC9<zu__Y
zFFP$auwIL{0e|Jzh~pZZ&L*4=Y^iHLhPhUufsOtkNkf@>1_@UwsgSFhP)oYdN`}x&
zDPfe-B2~(WbjcK%QdXFyoXD2)A_sYs53<RQmxSsk3^YpV1PlTx0%-yn0s>&IXa#1u
z+;W<3xg6xmw5*U;NL%Id&92jkO0?H6m$dU2O4{m$K)-z9GJ&gsac%v|8$tfkTKToN
z)-J4Hy0TU>ue^Qn>iYTDF9xYA>tDWj^+$?)4E-?p<fYSF?WTMBmb2S(PglS|r!Uu<
z*J{o38{LgYt#Ue&YhNL$=StLQHruV!kpx-k?8+ISdIXO*2Vknk#GlLWPuc}EI-Im1
zVJgT+{JIWFRLWf3Y?m)MvXlcTUuu=lw=b0nlx}zZa=S|3YsIu&1WtK^z)65Wzxe8v
zAPs_?zj7(aU3qK0eB~8N4~Y<_9;X&h02J|fv?k$fIPbs=rcr*5D*hutJOfwXW5w$l
z^^}{gXM`>ckrHW<sVUVwRF#e=>l$tvF#hL|m#=D2Yo^HFnG!jXznv;s?v$$w>yFB*
z(%4f=1-DS2MxF^ZsX<K^Zil&HtywV#l{e$gqWlQT=fzQc&$&k!N2n0zp(JO;0!kOf
z36vfckGjWD!xSg)=;D-k1pOXoW%-#P6H)#r_wd`q9QhX|=Fk0mlyNS~F_XmKMLCzw
ztre$&T*N8mnh0{WR?RO%E%<JbX<&m=rsX?w(?xd2bw!Yk6kk^cDONc_y5Y7q{jDH%
zt0wTuHl3ZaQ>nO(Fe%(58Df}rww+qT*}#UOF1#QuU6M<csc6LXqBL#93wXTC0DZNu
zl$E{)sP=V0t)Bwa`v#!VPXng<8NhVk1kCiafM!1jnC<5QbA1aiFI2Ft<~)PF&6=Au
z+a=7p<}_+O*LDu5M;HlIhkobfW@IUZ-*zl~K_+_%(i`SNv?%ta)zC7CYYr)EFR?UR
zw%Z*tLYxL#MI*48^me<-ay(j?6?@gKI^70L3cqc0+oj?-@@T1e3}bjnlwv3k#Q4<H
z<H$yr+g^&4+Q?YfnH_9i%m*SqvvOt}bHY0IQX+WAhMVL*5N}dz<@L+s9WX=MOHeRl
zXyY{@YiXRCk3lY7sX{6}HjXG{>BDA!nVJ28<9l{;-n=mmL-tkLF%QJ`%p|U4cO8cB
zE6xs#Tj+M$elAoy`0Ih_zi=3O-mwot&lP?i^iLg%KjfT4I4d6h!&&Ru1H3gMRP3dp
zMFkrL*3<|GpN|EQ%>sy>1~SkO-EiL=3|WH|zXp+5C|9}?Hccce<x>z)@-%@J0%VQI
zrwKem;0px4NZ?rlUjl&KH9WUbm7k}aWde+Yn=_(^;~3G7q!`H}VIfndo;_0A%A;xZ
zuzznR+7T;plcFkr1NAFp0L4E_)59W|lx<(BD-fP)?{^c4_^Ru(sEWvOxcnLl(5o!y
zCuAr~w6pd)7U02XVo~}dRsJT1gV$NSCdn{0wlrTy4UZIwV)l;4vmUDfvo^(IH>3d9
zrTX|$I#EL8zlTaFR3W`@B~*ar`-@QFpc)CqeyA6q4Tu!vsfF1S+92t5O+Jqy6}6BG
zFCjfa3i%@Ps(2y-R7U4!AwQ3YSNA<6`f6PnXnk!TingxRp<)4zyV^iUUaGI(Rllwc
zj6n)tY5E$Zk;-r?<C{>)1{89dRB&C}OMl%Mn1k#fH^}>0DC8^@F_iESFQ=iLkrU=y
zLj531s(G!L4OB1Cy|M^Y5$J;6JAt|z=)2CXK;MR8p+mr73r$tvt9vdilSU2B#B{aR
z66KcbzytTo(&PEdRm@FZ1VDACQ7L!Y9<+VC6`1@<I18KtS8O{lL|jQrEy;Y8uMl{Z
zz?T7v7SlQ~NNmVU$O$y*;n~3hKS&a?w7lVT;8&faR_6)4On~S-u|B~pn^k0OVdt_j
z)IlxpF#ttPYdJN2&(I5MPR(hSYTUCZC;tCWZ!u=)16aTlYt$WY>Cr`}w2p@t-9~~I
z9aa&Rd|&IUcge=meVE30rz1B1Qo?W-ww%_cJ8GJcK|+GF1(%v->8Pm8$mh^QDA(30
zMeNAVhCD?n5_2*4@^ES1A&DMG3ai5Xk^e~a-a{VS{EA_!mfAZOPk+4H0TD))B+r++
z7sTAkpD6-%WL?EOWOE%U*pbBWNMZI!rI3PEiBuY?%tupTPP6xZLXBAT!PuZ!lZ*pD
zhbrBNh(O>7cm2<YEEa^l*!fzji5GggWnKc<qA&E0EXT4mwB}z}@?Pi}%QlMA2t}0f
z&hQ%vtynCMt`#rSIS?ykTw-A;tFjRC1<IUQC1@R*db#`uC}a;)$;=Vs(xat6rDs&%
zgq0z5ErjXdDueSoT|cm5nM_Mv(Sa-eQJQ>kUc=u<0&Al9YF)db%NgQPd^6AD+vab?
zRc~l=odnfgD$Q&wavfYveu3_1_jA1Jd0O+2Ajnju^-NzCDYSVHZLFltduTHiwJ9WR
z(qS9k9hu%gcRkm>;qGp<9Vuu#AoeGC9qf=V5yEU@rd;N3wr#{k9_UewQiUy9=mXkf
z4Yvv<12@S=5K`7Qx1z5IeZrQ+8>6(emqr6FF*0%s{4K|~qaoQ1M1BwgOwg<a#%1)_
zn}6NiO{Ng-IJ-AbGmYj))p)`|>M9MZcXXtXbGWoP9hybtzRO=Dz-G=2rAQnES(+j5
zbheNrMJ(Wiwl^u18yFmpB!Lp-c=ln<N4e51N48L@sE4ZXw~;BoMqq+hKilmH61I^a
zBFndG{#JRE;@?Lr&jwITOEXk@3Xr^pW~#@uIEDOsy<#kW9*VQ52iYWoD|v7%m`9nM
zgj5y}Gx`5QO!w7&VqJ*jf$nSjItwlmPD8<^*GXihwjs_wN)sDHh(jksBjYf^hi3N8
zJ?%qH9z(6HpR4D=;NR=(#NY#i@f*MnVYffkPq98v*9-kreL9bgaZ<Tq$PZCALuIP+
zq1t*k!ZQmz0r1QLPloYi&>EWyc+3QkS)XPsiu@<Wf)d8^e1zo)u>2=RHIEIJ1@<TU
z@qAPo^Vpn8Ad|2raSX8>&z5I3e?$9FmACu)AluK<+(f3Uat?nDaufm}Dj{#1s6hPz
z`_Y7=X1Jk0RBztq+2k+>jOgYUqmhO^d>r+FSw}s5jQ)rQqdoi!dYC=XLpJH*<FOvT
zKhi@u=VQsJXw)=kvW`aQe7wE@N-fqGgoSw2)B@HC^!l%n^{%3i6EQVmzvcUR;uKc$
zQ~f+E`Q!ckKyQ_})k)@(J7{rgVDb1YP~iTpo&fcR<19quoc15->w6e+xH==4{{u8R
za)2f?G<Vbn4?+N&F(-%&)a-2UqqlgcvgC_)D^6u#2`7gt4-}%wcC(j;VdPN54vV6*
zB~sojU?CI3bEfU+oC(KJh^@ljq$+e;WJkYG%tR7eHfrH~ht!tcJGP8Sjy>UuzGO=Z
zy!IAhCgEI#YCaXpPH5m79l-P!>{i<+G!sqjwcbg{*>)RB<`9Y7J9V&dC~<pdpln)%
zIFi)Bkl^QGc!`w|jel-=vW6`w*1Gw_AJFd~Uh1Xo%RJNLHch<Sy3uOiie^vI6}y*-
z2vU4BD3D=F(=Bi8!YT<Z!RtU5q=dWC-3;wRa)+fuxw#t10iOpXkt7gDGz2LFNxqz9
zOY&t(v2XnrrAQ0NG69<aTbJKJDoD9fwq<B|o}(hR*^kq>5=y{f*opKG`9y)0d{gk#
zpjj2CLdCK{C=%@wSc%4>+41Pe3k#-(3W^GNU~J%$i(kqn_+^doP3WkZaedO2KSm|*
zF94J@oB(xB&E11SGA!MK6>O4ofV=`6gfKnBX^YerN>G!Ydq%3js*EgWikVwbX{6c?
z<mz$mNZa%Yv@%qa)u06jgq|Gm;0-LNXf*gbrS%pLSBhO(RM(0N6Jh_*!%7SQ4&uvS
z$2<caq0}J7kw=+9hNS3&{4FXnak$lSrN7II8l*kf_p!*#739uJVhA{ozLa03Phu=t
zAkZW*BsQlWr@SQqvPC>{@l3-|HT>z2gx=Brr%5W#iQd*vt<P)fOco21EgYFK3whMM
zXDu>T9FJI$FyW&`xq%)Ka3`J$GtM9*bkoShjekTF8Z%o1e~UyPj?1D#x?0dF1P<8Y
zeM3t}Y53eC6{VqvMLJ3&1THdB8u~<-Q93WO1It(7t*h|aGvuGcW7h}i!PKDOtC7Dx
z)i1zjxB9xseP9lzeOMkMzo_)5`)OhMq^*rU+$21(I_eobW*!0hdbXbuQy*B6;{|6=
zjl%4|{1G%u-|^7NC~d=lABWPD<6hg@Kzx^_dsKBO!-slcOhu5ou=%V#j+>62+Q$lD
zJ&KN^y9;3;(56Fd1Z>>Su#4e3+e?T+qH?r7Y!;OV4%i9%FoHc%J<@jvB4`oHv-bHz
z5BI~-1cgN0k@)t)!<|d3Z?bd`OcK&>w7oY2Z3oZpn}LBy#+%q(bma3UpN$sHVI(CC
zi<|>v4qZg~Ha-K@XQ96N*MCJn`y3)BzeI$ym<#4Oro&1k4%~!tgLdsmFd>Py1|}lp
z=lS@FQmcIWM5${um*R}{s3C1c>GO!!L%)R85DDmz8Wbi9QUK+h@U_d6MyQa`a5N~)
zk7|i9h|5xi0f`obFvhNR;KGjLQAkOdA>o<)H8{x-soJNxNctqw=D*XXMkV|wi4-2*
zrb#;eRDKtj;JVYO!x`};-lfky0=EgUuR#Jd{!w%*aj3tC54QP~&~g`QSMfdv8Ibn1
zJx%)kG$Mi8wu+Rts$73%#NtoKwY=4vPokcIC?R5icQwQb5&QGgkSgSgEAq)u##D6;
z0p)AT%_m!@4%Y80BzLO%HOM!}4#PRBDaxz0ZQSG_^Q`G~U?7cbZMf9%rNcW0@KD=Q
z)LL-vmhIR~BhEnq;`Cmp-9qUmu1L^5gpt~w9Y$ux<qESK9qB=hU>j0Y9mj+AX4l2N
zBN(AnjzPhFK5PUBeChj$nu!_3!yZ~-Y&&^4E_D5OFp}#S3K-I>;p8+l-;yTr{uqj-
z17r3^W}UQS{vI|O&SvL+wRaDzO%Z~a{vkaNh^g?p3udt#Uz1_=ex2l&Pgh~=rHJY<
zibv2PWHs_t<dLt*C&9HveQj+G+%J%pRRUzbg*GLdd52v=d3qJG;|;Hvd&s6CbFDO+
z2+h!ng)R3Ub@3enyvZ4`5ivmC%e1|1B$T<FF$a4|L)d`qGY#9@xM#v*o6}&wsgi0#
zppqyGW+tx`g<JXCRF<Q%FoMTYDlnmq_!3dLt;slwf73|N*4FWOe~zI*!K-^JHmuRl
z@R@n0uHw|3O$jn1`t*(XCz%t;HwE!CI7w&Y0x2>x$h1IxxcH_>!)<@x&+Owi4LNRM
z>3$Y&a9FC#tKU`jbJ)s^;V#1a1M}upm<;9(&HEeQ`i@dn`SziS{t+;!LagjzoN&*7
zh*ro$9Pej%7yRk^44&DlhWOpj(B~YS;Y^+4b{5sc8|@Q^a~e)&rVMvf6r%Cc!9%7z
zh4IXDV1i5_m{B|zxYhBz2UhP`KUY7xe~io>7GE%fzN)mIGZg>$hwAQ*3b92YmHh=V
z9pa}0jr!60BH_AgpzMU0*#kYkrnIy(3h;!qrE#jboiN4kMHp1{eX`F^u9Ja)V}>3Y
zN3nqr`$6M(^B!`yjd6`jvdHXVWAhiakS6)kUW!HsIkZj@$wO}1h2GoH1iFvt`&C+5
zlh^Iyix@OST;1GoIc^Z&F&y{sw{Qt=gYF7ONQMLdRoh`Ug&OV9w>#u+rQE@;Wn)b4
zQmRW}8z4|Vfq>wPIOJHn&5plY%HtZID{<Ad;p~o`cYvW-wbO~SM_zGXxqfV*`U>`d
zO6NPI)ZYd#-_!&j<*p%S%CeKC=oDHYGOw+i;qxOLux=nH6m@LRWS`%J0^RAz7vCpY
zXP^{@$i3c^<8}_jWq3Dq<@rV%XKUVzD@j9HL8IPr8#irn-peOEg7qn1U+fta=a9Fk
z&TPCH=y1<|`nhM%%30(WPf40)=+yTqwMyV30d}X@2%<29bO8dr)9%PE`h1Q*okk-R
z{=@h)M;ADV@H<qG;|EL-(j)Tss9AO$KHEi(CTvpXIm$HLotn=kFrwRRSJENKP=3qz
z>5~Wb0oBh$+mZV(@dYbr;P9+&IEi!A=w$+r5%^;QO#S2cp>mzpg2EEYtO;Y$RA=xf
z58Yz@6MFpSJ=2(nPRi*ybq1P=gV|U+Q!^1e;My=qHT4*x0x(SB>lc8D|C;<$;2t|Y
zCMA>Dkgwq*6s`LT6amhV`2gk>U)|RPAFv!K)g?t5VOgRCUM$pvG0<*WeGQghYK=Kx
z{vpuHKO#W8p_r0?Lg{2-hieKRX5urmvN6nrW59&VCxNJ%_)8)d#p9Go^62sh)X!&w
zOt~!D6`X5n)FDk3D-BU1iQgqnJ4nNWgFzVvCOAZ4QdySDJ~w_Lb0xfxi5E<yGJ=lV
zuJmyJ%%{x3bl0ynyp=>wN)BSMB}2QBLl?nJSP6LRZpClQU3P(R@eYS0t_*TKJx+%q
z7N!ve5u_yW1OfJ!$YGFe0s{iHtUT!vYi39_^ZD>v>x-b6;!(8Cm?q9z0KY5{@wA*i
gW6h-t-%`GTIMAoomvH6>$E5Io))J-CpIR^eKQl$sJpcdz

diff --git a/trafficManager/decision_maker/__pycache__/__init__.cpython-39.pyc b/trafficManager/decision_maker/__pycache__/__init__.cpython-39.pyc
deleted file mode 100644
index 41589acb9c5df8f8a24d8a2cfb9dbfe27f7956c3..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 395
zcmYk2!AiqG5Qej9Z9<^$uty8FX==d|L@f3oQl+#9p_gU5J8f2z-ME`7@oDtv$*1t-
z8|2`{lds^(O-{}*-|#cc@H4dA4ICR^AMgCr_U~H!56_BoTV`y*owdUecT==RO?THW
zxOc6WHXzG`h8^%;QJu))?#k)4o*#ngzDSgg@m#P3<PP703}&=|7>|ad<Nk2mk0v;Z
z;%E{_C&3I1(;_c~k}(c~3ze5z?2-Z>vR<=*Hzi(N&FSU{Ptz1H>!HC*FrXiS4{-2f
z%{n(dzw!v-iV;$|%2X{=nyQ`CBB?qw&q4Ca<3dZCLFH?pX*2Q(*@_ehd2@9An+Cs^
zVWKh!pJ*u|WQs#L7uiZ=WU=3*f`x^q+pS>NRMH*jkOLFO`X?E^w~`PcMM20QFDw5v
TQ+%Jo8M4Ps$D-}|$ant$E;Vr-

diff --git a/trafficManager/decision_maker/__pycache__/abstract_decision_maker.cpython-39.pyc b/trafficManager/decision_maker/__pycache__/abstract_decision_maker.cpython-39.pyc
deleted file mode 100644
index 4e70c7826514ded048754c586954e7b46fca7a1e..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 2442
zcmb_eOK;mo5av^qsHf$(<0R|@iB;HE?6e4A7=fL*2vFFLVYLlF!yqW`N@Bwm)g|TD
zzB<?bgZ=@Z`YZY;_Rvd#0{sg`51m;(EY~)ADFqH@W_M@j@y$?vv1lvs{PycF<h`jV
zzoRhu7$EE@ikkcZ3{hN#s6>lYrn#DmydLSya1Ca<rj(5+!z|ZgSvM<XGs-dBwOQWH
zvw~Y-MYqUGZb`0XqB5(v70FxC6sx*bHtkMJIUCKeS$9_QxoD2fyYrH_qXo9;E~*N(
z-Y6tb3Lg|wxYRCHcS&lBqy(Ch)I5-yGO2*3A~nl!W{Olnu2SPtcOQa0O=duzk@6!l
z+fZtA7d?BopLSxt<?M$+hj!b}JKDAP{FH7vo6j~k*ETlRHeNUzUu<o@*xGz<@6jaS
zVJ{8i?v`V}j(g`kY<E&;C8){$PV?M3`fA^At~$F><Q(H-;vCb2@-s@-9s5trc}*30
zzuS#d9}OinP3XI?UW=07Oj7O#DWl*M0d<b}sUJjsk_fXE(umYdVeExLDvbRwNk#Up
zbj6Q^-k_;4zwY-Uiq_vY@kVJL&Ag%=|16CATv*@IP8i5d_7SH9Y=H}KBzGM9<PG<G
z9T3b0xJCo?b@I_c*g=fE1coZE3OLce0d%-J(WpW6ZG{-FNlf4~z^iVCSiol`Z;>4E
zHu8}Byr?$9Zaboll=k*$5GLTqAuobuk!z0p<toZ%D~kP86zPvW8l;qXX~^hBc@+GK
z^!8Mg#_I{Xe^DH7fV7^93}hB#&5Eq&b$v!XPuQNvV$zS0FL>VfeLotk@M*lb?0FM)
z@;p8ZT0Vzl9>|r#myt*E*SmTrX0-l;f8M3_ASSfFAF@WsyrX_I3WGXSw$%!Q1HbFH
zDX)`Z$R6|GgE%U^cT>L(0IPy^yf?`Lv9*GVKdHUHKr66yvOp9Hw5?EsnneEz%VL1W
zgi>Un6qd+;*^Wmw;3YWgTC^Q|XS8#riZY=szaOPu3lbRf^NR(<-pTFiL5ev|VCP}Y
z;tODfFCtk&@&HK&h%h2J%|AkUoV)?|5Ot4$Ad}!gvbC%#HTOsAz_#m1sSXfRAwm-X
znHc~QA~Z$u0Q?HaF+PS<7f-R1PKFJ!3KQV&s7{472rIcGu0crHM*LH-If(PFxITeZ
zd=m|bt#RaUMP-3<2OI1OFr%oTQaPd#ofyO<nV$_}k?aQ(1|dWWvDso_cQ`jDs(65?
zI^+eg!z)P2NHDoqhRDa)<3ZRQ8sBSU=L@?x9tl{>w9mT%)?xG@j~)3MeMEsM4dqHb
zl=TC{Mna<&NAU3)lFyJ_X9MdhiU{~I%yFAciDF$mxi60On@7~cEA!v@LT7mW=5_L7
z2`Wq{dX-?gvZ`h(e{<CRPX$;SIer6Vcb5R`&Y$Al|Cw06ihE@gYh&&@D2(=Vct`15
zx!;Rh3FOai8oai;0SnL3>O`tgcUXHYEYBlxFc_PyKA;1}CPzFA-ERh52aaP@B0v6a
z(S*aljbZC&((@k7e2y^ZIL&wt3H~wRc_5-1#Eiw=^$C1R2#eBi0VWcDz2s*?4l1!c
zglx>${b3t;W0gd`DEHGaO4bqQ66UfYL}j3bvHTr;RA8?0Df9!Ut?U!op%Nt=<DY=>
qI9VdQJ@|UO#HL6-24Z9iT1Bm>%P^-aY5}LUuBjCZUK3uUlK%(bL`Fye

diff --git a/trafficManager/decision_maker/__pycache__/mcts_decision_maker.cpython-39.pyc b/trafficManager/decision_maker/__pycache__/mcts_decision_maker.cpython-39.pyc
deleted file mode 100644
index 514afe0bb09370fda5f611ffa1fe8e2d29ecd121..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 6871
zcmbtZ&2JpXmGA10nVy~x4u=#!L|JYpw%4<3Qy+E`gb*AnqU@DcqO_!(U34N0no~`(
zhut&7>K=+Dn!o}SU~PZ^4gwfR-~)N|DgVJ@vA_m<@?j4-^uY)=C+%S`8!Qkz7Wen6
z=Yy2AvEgl^YN}qndiCnntM^fK%VkT!_u0SxnqR)GD8Hx9$xlb;9hB%(R9tZs&bS(|
zP<2#BZ7t9o4ZnJzhlXQFm=WZ{yps=2#|#TjA+#JTEILIwmJ3Q@*(u9*KB$Ca&RAG=
zs^PdZE@5U+3n!cj*)9Z=;Th*lIOR-*)6TSnS;0&=<IKo*F_;a{I%j2D3+9|TZ|?A%
z_rei#&cCPd5-&egc-hMzXwHl1SNItEW1fk=&9xP!UftWWuJ+=Mj##j7`OOWly>9=V
z*R~ej*junKU%dS08yDYt<I-jO(sviWb7|r7C2P@(n!@kKey6=)Th_HscUSo98?pUb
zvo0sttGo8yo44H6*X^r8U@y~PWG{P>C$>F4Z(ENcMy1ZuQnM4T`fZm;MN0q_@2nD%
z1k{am=IUw`3%40xU+*k>O+NzOZFkcX>Dj@^?OqW3r^kvXu+#D>gtWHex7P!2CHA_5
zNm$mpD?IKuiH*9J7M43Me^0pGjkI*L*OuU0Zre+(rH%;QfZCX3ti%uz;s4OvaJT(V
zPo()Dc^iH+@X}(xac{RvxO&)(Bm5TL4LT3xye5g@<d;L|9hB%>s654C&@+`Ap62PE
z;pMpcvCcKFKQx>?XE?W9T0OB(DV3$Vo)$YJ38t37P8#cSD^_>7$22FrxF_08((A!T
zZH96UC87>junJrHL;+Pj@`5!n38*+j)f81TgX;5@3mcu#yYRr>ZF?7*9qwJY<%cVN
z*tpwU4gBT>oZ;G<-@NU%-E~h~;Qga)gmjh{NH&eru=(z8TBgw<{3R?Fsi>6v-ub6D
zK7R@oOxMlSY&6<#=rtOt)o6qr-V3N*YBaWbZjg-#jdnm+UlgdKBM@^`4Y!uH&Jt__
zm5mZrP??7ECskFM{QE+VJ#(Ta@ZO;bH&G2vG&@huKGwL(wTHTs1H|wQt^;E593XjK
z^h}9Yz=*}ok8`}hEu4Ij=W!;bw026V<=NLYc|2)>j$EF&n8vbA+T!4&P0}6-7Hy;c
zKwV>G${w1J)RwZS9I$;YX4K}|fx4)CsNG-siMp@v8?oBb61}A-MoV8)w-xdBmW{rF
zzOktZJ5djF=;x2vKPs|q$To}3M@n2cP@`?M7`4Qwv2|DkZmCtqY}7MYZ9<WdiiA`$
z$h30A_H#*&>zj)BlpDH|5D#+AHT4ShusT7gC;7<(lHXK6WMWa$8<X_LHg)ko2{2WK
z_L9M}@fl@5&x!L=t2#+Mj87~3W|B|LO@*j@^{R4*wF6qS`-ruS4;08W&rQfwX-ynX
z9!a@wgIe^{fi!^o8Q}usjO6w+w5A3eW&DAUKgZc;UyCyq6KAThK;QU)fwO|-jGf|4
zjb0v{4sdq}7u*qN)MMa`&S`8WJEO5aX9Ode8K-218DEPtg*X$oTvxWR>NM7x-X!Qu
zCX2zk2aHZ8TM4>Anl~GtZOuszf1642@Z6C?{pb(<(HGFu#8iLuyc|XUtGUBE1L~T1
zE0ac_x)v?<M?qcK{V_>f*k4T<I!Z3rT56J|9ei{h4HPmk(pLCNqTK)CJ_C6u&;9T2
zs|jndL~Su#wF=s5thIF6R!_A1IBP0bexYquwsf-J@4}6m+nHC2Qq||Fu^q!Hi7Hl0
ztvm1EYutIaarMp(I5KtqB1XN9hM)bk>MXPQ(j1ZzOsy;AC*iicZ(kyI$#~{q1uZti
zN?-0RJZqTd8?7E+_ZogX_Q;i!tDnCTbee7uy*)o7_n3_PV{$R~)=}Xry>m)TG){g=
ziiwz6Co$DBF(qsk4r^BVxk}sqgb5PxC-CfTZzpa9@YvBOs(1y!RNM4+;fiwvZ1^Js
zkG%zcl<n=uK>TkM<s0m1NaUMxFa8P(i`S`|M>XWNHR4r}@H>Qoa8;?lD9Akul8`)C
z@iMi(P1UzhrImFr6GCHkw*eK%XM5+Vg^;Qp#csRli6UX@p&M_&-EWCFEjN2Yc<s0W
zgxE{jPRe#u7Nr`zHN=NNG2Rd*TI3Bm6>^Qz(oo>EP&w)bKE#|Mr(+Zb1U{(oh6klc
zHFq^i3#)_pNswzzwOiM2rG>y-%Xp^#GC~=OBIQZe3u2a5mEnj@Gm0maOT0>Be?efK
z<2;=l*ri`fBFVNCBs}ItLVc4eNlR+@#B=nO&La9xREl9S{Ww>cVl^mzssE=R>zWQo
z?N~k5byHKH)R=XwYAUO!Ra}iK#;g%kGmmvuXH&=O6WuVs&~w)3dO>HoV^z&PQIA#Q
z|A(!r<`Y%3zEpFP3(&K$Ug?RhTYu7x(ieJR$e%hIQ8A(pM|8IL>esu<{kTKiASpgK
z;vmy@4JG;yR2&h84=;>ja24L2NfY;*{d|&dF^V!^S6|zjLJzS9;*6Uy{5E_y`m?y-
z@C4eXA#M&a;B^rpXx~#nE58muk>n5=<gyuPW%N0Gx;do(XloliqR+%{5>>8+{+c?g
zpnqaD#5Cp+WAJg=`uGLj6-Dxt8*;PFl&z_)ZSX`US6_Ne7F}AP$7F`;`Rsbi`$%Rt
zyPoo9YPcC`&h2)+Hb14;Bu}Rjx;qHpJH2ir^7oK{WNp8_)=3NfHs5i~L35=0nW-4r
z?LtNd$<Gl8M`Se=Mp}qJ-GUxNYoLFVPgI?Zxrsu5fU~n~5*l0uZ13FjbV4o;!b?a=
z*uCr~4U>d4*X*>{{Pj#VDEJ(FbmPc)NYz+`>4JY#qRAKm=>bF@s|UzG66H|C0cl61
zD$1dbb`I@4jZ&C)Xi#|dp?Y6Mm|EDkWK69jmJDT!T<6BaL9Z0&4)d{@6rm(qQcBE3
zN8o4h{Lc`y?w8|2Y@uh);;?yPR+)pU9WZ#`pX^sKv&gNa!i#grsHZWOl)*(gDf4nq
z5&wka|3gyVA4|qsCGlHemy<D0e2#7X3t*MQu_Hx%BwN)Z<lqQLKcYEXA4v)f;h>$A
zTc!T5#7DSjOG;%)sZ1--YJe{Qw{l37#$=HC*YWsajaQSx5ndy<7SNmE;{zOm;j&fZ
z0x!jr1Z|zc&Jf(+-`ST~tux8^EX5gozZOqHt`kYEHJwZ}W)hYl=pt!MD$@!evvU4f
zjL$(%<GeJ3D+%~Hf+W>#+R4AeEmx_J%O`(lmBSa33A#ofvaNqW>C*Y!U)rw?XQ|Q5
z0GHQhmDWt_JjPxGJyrar+#T^WM|;8i{~F-pGTKS)iiB+~BqlE3q)Vz~+5PWE*bTf8
zKFl8Em$u9~?F~<OLo9j?urDsyiylIh5dO;c*X)>3Y?n%V*B(Sr0K2g*yse&(kpa;+
zKomD%{xro)3-<LL`Ft^&{=knn>~1FpOTHV}YaL;q@Lg!ry7sdXlO2J_r|4f^u-_xw
z@D%lv^oA?FZbx1mgGbwi1a|ze7uxM!xatYJvo<1txX>PMVj#r9E^T?!Ar5YP2nmqc
zM;k=3EBub|<6Vd)$ewaG{BC5gdhr9#YY&B#O^=@1#G4EDT~9y`p?&+>y_F$$U!-=Y
zZF_EWV+ijv0YODL1P_4=ZOs);$qLEy8U9J4tKfJ<V=&dG;{YkSg52GRyS=x5e0_QO
z&hmYz#fg`v1$(J8l2_c3`ZT0G|4htBu3!ZvBEv5uR&$>vEQ?b|R(cqmLeWN0As-$n
z)+663W4*n%o@0YgJ%5}CuK#=}D%m14Ec1;LvDE^LzmOqx79uejKZ^Hh_0gM%<mxrR
ze*cZQ8fFmEMb_0+kNwaS_dv`UzkT)Z8;jSk-B`JCXQ^@T#_j9Q#IU=3edW%r_wQlk
z@xRf^b*gToT3Y|rFX?;ygMRApyC3X*XK-xxn(GH1mv=4G;8*zTw!hwn(n5Qo9g#OY
z(Y@-sc#jOA$`4$@7wlKo9v|b|`~LH&^^Jo4N_2wW@V3ai9naTalHNZxa825=$P>?h
zL)9{>)bL|3jKny#^(DNViJAlpw@u+OW;j-_i4a_>cxpn;1CF5Fu}GsEvYQ$*KzGc{
zdbxpv_dQ}Caeilg9h*$^=(ee0aBsD@E|#!}Q<T%925E_)$13rC0$049uGgdxJtJEl
z_UV|?d_RZFGK*Z+6L*MfnNr<YM3}z~k;6bB@Tbfx%?mHWJ8e{-%p!Nvyr%*MdHh)v
zd6&4TQH~kFAP-*vBk{L1P=?eaWRqDygNJi^J@ngtKTQ#wkV=Epr45m$EOrVIbGJb<
za|(kKic;o_A4!@6P{WNI@za`4FM|J!5<Nnt)N+V~a#~3*={Z(YD~R!RL`hVJe}6<q
zP*RZ(nA!|85mF(#XB9T1=CmBe{!etx{8Be6h^-KRA$tHWT2qL!h<c5ZX+&Q%mvV(F
za41)h>mZH?rnzT-l^v+7OH1{VI0v4^3sjw_itLem@}%sj8J|?ewV>n1*-NO@(*N@%
z^hMC195o`^*d9}#lzO$7@qGOG@J*D2@kc?J^_S9oqrp2(Jiiv8?jr7Vf+$N?zlZUZ
zjymkL=TE#`OE#TXhsPqF_B@hB=}w0#kv$*_dKD0qW@In8l6lf+=Uo5IyCX((hakDr
zbgUQqK{P*lHI>i7lncw$HmzpkShs~s(Gk0%jIp%R=echJWa28uXqF7{={{$wIS;8m
z$Zk@0wR3bQ@gEFJ=H#-SosmnkC#WK+olwG26mMS19<tx2v_eW>H%m~M5<8bKsgwAn
MQc_LT(yGP(1?g`6d;kCd

diff --git a/trafficManager/decision_maker/mcts/__pycache__/__init__.cpython-39.pyc b/trafficManager/decision_maker/mcts/__pycache__/__init__.cpython-39.pyc
deleted file mode 100644
index e96b0226b9bd4999a77f83ee49ac10497a39bd1c..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 400
zcmYk2!AiqG5Qej9Z9<^$uty8FX=|YnL@aueR!VyidRex+(`Gf<jk~E5pGJ?Kd<sv#
z!5+ML@)bO}$;lb!8-9jieuj3tk>}#;<DGxH{#}dz5jb(-%1j)%xA8dQeug%v>HfwC
z|E~4Y2IP3uumiy>suOwKUwggQ^FuT{l&R7Qo(q<O+~Zr2(G@Kr!Q<ihv_G8mM`Jvi
zCX;D0nnqV(m=;ATluU3GU8<teVxN}ynDv?kyshx^dQP_|c$Q^&RSykbfdType1M}L
zXV$yvg*G6BD@KU*m9Z^T8QU&snc5C53Xt3eTxdyiu%QN;HKUM_oydTYH&55UY4E#<
zQ<X#fL@Nm~Qyk*C$k!q#%fmJkEG{+O?F3s;N%x>*4on#5pXBu3$()rYCPYY45;7<%
V8=mEgA2K*c?t<w!w1W_Z{vU>ka|!?e

diff --git a/trafficManager/decision_maker/mcts/__pycache__/flow_state.cpython-39.pyc b/trafficManager/decision_maker/mcts/__pycache__/flow_state.cpython-39.pyc
deleted file mode 100644
index c9d5e6497d32a83229144041aa12b71af7864aa7..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 6790
zcma)AOKcoRdhX{;PtTL&h!07&$Ff)QY-q}q1;-(jmAE8jNTx`Iq`XesN~1Z|B)d7&
zGpue>qSAvLXygzq46Y9WvREvr92Q6rAigFDatIP2x#Vp0AqWs4fi8<20%W7C#e9GD
z%#e~+NxIR0SN-)r>iIv)DHcr$&p-X$pR*euO47ej<@BSXasyxZ6#$bgiOEc9%9bqt
zilvCZYN_I{Svvk|Gt<gi*_L4$t(=u>nU*ONpVrK`3RXds^=7eEvP!M8Rc=+Rioj)>
zL#<(JSd_EPkyh2Jin7r>(;Br#W$7b{<(T<}#LNT58e__;RL?*93v+fi+G_Ke+M?Ik
za)Zs<58S|<cOrMDcICY*@4x%r)pw`guT6h2bM@-X`_tyU8#cJtiM)0&Q!{Ti+Yf4C
z1nQa>)^<ae)uMKdyB+R^ZV=U?Ew|U)-Vl`yV(<b{zB9MBT8p^rPMPLhyR*-|&8?{R
zPNOaq*VgxIcW*B`>yx$FX0x_JjbUvCa`~RirfTLBOsTX~*Ajh|I*?>Paksoi(@k>U
zcek89uf5BYd=Iy_-*M}5GK>*6w(Ul{*$goNJ8&P=)g-slcGySU>1-wDQk%D&=Ask0
zN#XWx(4cWr4a_;_L=Jd6`=}J}>^38B-feg!2nh2ocbO;X8`QDWPY#tE_(BHYN?3h~
zR^C!w&DGtEn{~AfWkPZdH|LsehAB+_iNQ3cf1z1<R$*CYd?8zfboHzv%d^54l2vlc
zZbf`UtoRe1l~@_{!(v^Bk{m6Kn3zX@VAk-6RSNB<7e+ImeYWRr+0&B*uS`x&P2Hb-
z8AE7OusUK`;mq$|^4RpHna|St^kn+)2|(MGSG7S@S4di_8%h3DPZE=3?(I!6`PrTx
zEK|GHX}XbXv)%-UiHR-Mo8Lr>yq23}8tq`i+e|Xtjdpp^Ffh6OXAA|J^*MauC{AH4
z$C53@89+H!0F_t;RAUWLi*-PqNr0I+3z*%cvJp!@`1~xBC!}pX{4~m;CNZql0nX{R
z!arxysuY<6I&DHai?*(D3a9sQ1KzF~<zw?eo|o?b{Bxz7?-t^MU+5MgMe~bCrN<Il
zuA!yWEyo6QmJj4@iGLkSN9DK>7voY4{DkCJ9&6o7T;X3c8cRl&aNg0M9Z>rEK+<g?
zX(%rFL(#B5vaKG<e0b++oP*>cA^GVk$wP5&Lh8wV`hwi2Q8mtseqZel$7Vb{A$3Ov
zyd&|5Ur0HjVd;6^LwRRu=MOifZZ$UNr9=5X>z;{~qciatfAq239Yu>uWqf0M@}V4l
z6OE%>@Fx!Bc+@}3GUu=Yga`Iqbl!h$TRBvC61^UeMsFNY`5!@76FhH@OX7b4^N?j&
zld80>2@3V-txbt#|5$!3%S1Df6u#H1y)EQ+;?bk;JjQJ9%7;q0A$nk(OQlXgI?2U6
zoszFZekWFsE;92a*+1;bz9eLS1KIBkWdDum=|o?{*sElJBV^}Ec3_HfL6l1<pB_{7
z=whr=3ugSws2+XS|FyXKCH5qC$fVf6lcJoVol-9@B|~>+Kegu<=5DRtT3)i(ZrxdU
za*T(|I6BG5pkZZUb$RjL8fX$_e(i~dR+vuZ<JCl&odas_i9!s;#o4ummDxpm_3pyL
ze4;MSEfQGauMxw$yo4VgAy6hzAuvQ>7$C_7yDhub-g84<rFuSaA4Ya+7814T28rqg
zQIc~(=W;Uo#l|k@@HDnCDoGZ82ZlLJbT4vSVN$VAEWWVRNy&ZKaT}4#dK~&*1mD1Q
zQfDsTTeFvM+Ox~I5}iB2rkj*D-N<gj0od#Nw#SmJD5Fqz_8hP2tT$cJ944x>9wstN
z^amb`wvya>-wAP=tHfCTWMO4(_Tz=bL`MR2H)yz=Y*tbXJ53K7FuqN2%8<3^Hj@m-
z?got4h$h!`H`0zI8K=`B{F{U~h0_#WNHntTNe(0DQM=s?lWd2#*={3B3a92VtdAvH
z=r%XfwfGgwkgg9c0DMl*0AuVAt<s4Nrg~E7Pd@wz#_pXW2ZmoF3Ar|60B)lW2YO=7
zy-;{zkHL<o{s2o06~ifcpOW~jLeDP<-$iq?g`r|e{zT%7Q1Nv6@>aX$UVh;02kzxY
zo4J=4z1FJNvhVJ$H@(K?h&vk_UgM4vIGZlNJdoXTwoz?0qVO_>CFzEk>g*?mZF_+i
z**0z3@b3X6Gb2CuDjB78tSFUdil!-5xvH6R1r$}eAZxNBUgMWqMgz_Swge2d6pl4D
z#T8^@K&gR}q?gcU5}jfmL+Ue4HNVxe2FeAwa;!YlG9}SsKGQVwmzrLI4C7ciR{mSd
znXhaqC<V17my`-5KN=o{1ylV&-fYmx?LTxP2cGjhwr(UHkq=a0rIlFb=c#<8#;C)B
z!eik>)H)%J!GcGbBY02W0Idd#4zKFx$Xj+Z@P`@l9Ea-tpTQqx;US5ZD06Yn&v#9D
z<t!-k;3*sxW5X|@tq|vhpZ)9D)Fi(gn|`IQuPXhzq)2u-8Ul70Hm%@~Fb!Tp;(y8X
z*tCZa<=}_l&%o-+`~x8&<%XUYq*UP9NOsOYbD)5?@~iYQiU)KC?&>N26G>ye9zies
zB+CiCU%yK4ht&H@G)j7zep+iZO8q}Q(*H~IxOAYTvl09lnoXhkKZNFC(ZBplBZmKe
z)r<z8Kt@6Mst;c!L-hWClQA5Pu_B@cMV6v*Rys&`%gM^3P4rU<n>}qRzd|b+7qO0I
ztYhl2)7?-!ns_W>Ka}DUe6j>z`?EeBt#oh^(aqU7XP0{Y?a2UE$QqN<{syeCAukCX
z*pJZK*KzJS9V$nx<&UJ4|358a4QR$`oH?<Bi_lnxobwou%6}@_UPB$d^<RIC7_T=X
zl}Cs_F@i&N=cm230hj1^c`&-?B!lt>X<-u9O67mHv-F(ia$NS`II0Q#nAgY3=d`om
z#CL(X@P7-@Z_YnEAsxLPi^w9@QOeQD-dT#i18KQf-;_m6QlLoLzliS=Mb5r{kVX7Z
zS>od`7@Xp5evZId0u(#&^8i+Ue&Ocqy~Q<qc5d$9fWY(5*F`WO{2G4)2;s>djeoYV
zu(G^zzjiO!4%!cbT59!YYEOi;*Fji+2f@A*uyzZ<|5n?B1N}bGlmSrCaN@T(W#x&%
zT(?8{S{i1E(BmTMBgd4+AD5~09)aH=Fhk%9f%geq1xVDE7bLls^Uw}EuFFt&9wvH+
zQy`+b550(ABQnKf{CmWNYXB)3qp;y5LJ;nkTo#|E)?x#>Y3M>A`TgX~1|k^HM{T>|
z@W>54Czzg3<cEp8pJa&b);#}Bl3gS)2$$*=PWerePh*^jdoJT|0b}KaLdue?p}zAJ
zs4#LnRtX+7MDB~wit2oxq~0QMo0yAeK4}%y{VGLVnN%SE7_=u50QC~#8_A@il?T<X
z(-alqrBiT+n9QDPNc$1$;lBb%se6<waCLBh@-V&(+*=7B9OH3DtpY>1VU)?$l1qj2
zQ;cVdYJ3YPcx-0-?Zl-hFHwAJntckAX{gWD;KB{11ZO@BS8l>#8gdP;8;%)H8}1$T
z*U?@A1}<6fYM?YgUr-daq!C{ER)JgBbOSBGLJoxkz!3beN7WPedol?P+Ti_%%E(vK
z%$4>M&KiBVF%miGg$UWJub#?5FEVYFC^X?IuTqWaIGdRzJ_`QyY?9cun|1xv8F`x;
z#i6)>Qe76C>BY4&5KQ6#I8EF!Ng)LXQa|v~5v(Yhayq2w6F)bi0(i3cXs?EU3o$ez
zCL?<;(Orcnb>&D-M|B{J?D85S4U92H<bX_g5}BcjI78l(`R!QUl#$D$eofk$N=vX`
zdYbd>OzqSVcW8ZSh(P3{4CT|vI42QzWV%_VbPaqtp)=dl_*aNOvayNyLyfYKZumKo
z;UkuaaT62k=iuABMr@+r8b`kDBc6dzHJLsxO-K}Dgg<`?o5dKPzQC`;4^T96BEcXD
zr|LqY@ZcXj$E*5z^sKNa@vlzfcfN{6E{fLl4+?1b65~kggRubn``|QbB!NLP#F(@r
zJ;I$*Y{a=S#1X>!M^P!(4ro;X&mk&{%1jYd@aPA0b68jsR(=zUDjvR!-{z11h@OAA
z&hMfoJV5Fd$a;&7*rRxIy~p_P*I~tI|M4jTCwtPOsxW$WDhZ=3?6$DXv=LLgO$L?U
z14z_xx5a;eQoSIyvQ=$5VPwNZ18#7q<=T{C<Oapm+*P^zz~L;kH`?5GoyL~PIVxoE
z2bluWO)EoY(PNfDf6BD1e9CE4GG!He6_LM$!kk)#s2#xurY$d?EI2LF`x>1qvbz%O
zo2F>6CM98gswl$_lI=j~Zcz9R3si;0t0L(rsIW@P1tbCp?~yo+%A+`qhB^wmN0k#R
zlPam}iH2@Z_j0XiQM=NsUEyb-y+Ijp|Dgn6kOcfGDs<4Wna3j>TngnPTw{yBNCj{>
zHDANEh~n!gVFM$u(IaY;{R}p31|fv()4|G)QCkKVZW$b;&zXwrGhA^UA^e9F@NZ%R
z5*O1DWP^w4_$z*1&_D~x7c`Jc@=(to7->ooQ%I6odUR>NmuS{7Xu1-vZ8>4hX>!+L
z`?db6UVl^U(wm$%XKy?H;yO0Zr>OJa21vA)gM?h)+V8X@{yT)W37ttZbrB!%3}KX@
zljsiT&VHiqI}hr))R=n2;uF{=&?Hig(cUQ$v?(<Xx7tm{KcXhteqodF?*hF-JA@8~
zq$1tJPB<^0$6teY5eXo6NJV%U?H5M=(b<!=fAQ|4F5j$=P;wj4S+En+#$5~B#SMm?
z6l{A3{<_zawQbgJ*fzfotvm}r-Nr?N8b+Mw2}xEx(KniHC*n(la0zS>*djnaj8kHn
zXzRF)5F<G?I!fF*MFS$HAwLz?05B|rvS$-t@BPn0Wd5E}G(Lb!e<rBw<NP6U-XPE-
z@LK?hj#G+QuS4Y$Zjf8;V5+zNq9bXSG@_@yZdH3U?R8v0V3XiN0;3blS>BDjW;jK6
z)8cAcOo6zp;dCq#U9_iB<{0jMaKq4uPRxb4SP;{cobO$kwE5J4Zh#V#m<DxXK2Cs$
elZ<QW@_Y{)0Jqoxnvw1RLmo%GM3)VC)&Bv;bDkam

diff --git a/trafficManager/decision_maker/mcts/__pycache__/mcts.cpython-39.pyc b/trafficManager/decision_maker/mcts/__pycache__/mcts.cpython-39.pyc
deleted file mode 100644
index bb95119cf6fc8a11b4a8a4ae636c929a709f5c0c..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 3410
zcmZuzTW{OQ6`tWu6fG;)X0Z)Wu-gq#wTYEF*_*d$*RXesEfOV&1GErQaB0p+qD_(V
za1_S|-52MnK;QZU?8klTujrrPLs6g)MgBtfq5aNKQR3`Um@_wOc;=k%eCNcgs{zCF
z&wu<~T<<dWZ<@UQxR`u_R{j}6uptv%SQ#I3(_2H!^!Ct}_L(Eyb3XKhEo^C>wS;rd
zud|zM=nEdVf5(I?yq8RPr`9kKE#bdp!xhmM0s4+u5gqiaVpVj}cf}=f8T}=3MO;OH
zSy(%)cP;*iGZt*l^`uZ6;Urc?CdzrH<2-m+h;)=n5$+y^57J~J^KtkGnFrgkmK)*v
z-Szc5cR#(ez8?PS{>Hs~8y|fdY|AoH=}f0Zz7cGO2lF)94<8n}mf=>cvLbw{qzrdt
ztddEXPG^~%%3R0v{#x)=p~7jQWGJML)2s}OJbbwIbSEsO3?^F7Hv0X;!^5>SPYU|0
zmZ^|&xt2@a|M>1_x7P0pRm^sa7yUv{q{3XuSfu&5#4yf<StyISN@UrmgYT4c^;{mU
z&BQ1Owu;%2O2-o&{ygcK%h9zT|NcR|dpq3BvhWFQmf;gwO8iT#1+U;eHh5)0{)dKm
zzDSz>jkIYMt^625GWeLmza3!-`z0UR!VxZf;RsK((7VDHZS<Z9#0vVB;PBCE?F<Sb
z2MHba`k^s>dJC=m07CGJMNC+byrQu+W{`G8D~@0|$R50cvzOYko?Cm*(=yd%?J0Q}
zD^a^8+#zc}nWULeGOxW^j86CL+9_o=Qf(ZdRv^A*Y8BmozwS?psq7!dN4e}L(6j#_
zo$jR5=<$3vOOw7<@o1DL592%@OVt-L!551>n#TK>P7_@ku{JxZ{U}QFR7cT|ad2sZ
zh<l6Q@haJ1?e!Z8-Tn1LwxDKgLI2f^EO2U_;O=|;%&M$&&Jk)m>{~wQ*~-B?iq5aS
zcs7%{z*+~>;flF;)EL2Sj6k<ES5*jRR<~mzBD3>TOiMb7@qiz9jeg6`3ks65O9ewr
zD(0{~DESF|7&S9QznK9cP}3SHqKTfRd~~YSj7i64;T@&C`AooXx3Is^sLPL6j7H5)
zLXLm^(0GZRg}q>>Q`l_J+Ozj9b%TIs2*Msb{i^5Gb|!OUF#~{MJD*RZY4Kc^J#H-5
z7|3X4tkfONv+O96FJ_25DSG%~>CyN3RqpWPYeuz;?_5xk)T2uqm;M3+g7+TNMn$8j
zjk&XE_Dwc&Z?F>pA27ED$Dh;r8{w@oXm2f$jG6d6Y~bFE8^~ikx*bB%tVlIYdTs;q
z8~AE-Wm3eL9qu3()VzH6zJRWhGZjT^*e@?bFmB<dKAOXW@4VI$z|DI-0MRGJ=kZiV
zQ5{6Er<i9n?nKeSJkFXObqQywYb1U|;yn`YlX!!HrQHp(Y12fH&x4ll;OCn43y>sq
zQ8Na9hJiN5Jp~H3*`Kx%IhNozfB~T4zP8SgfGX<-qd1~j#m&g6@cxOd-OAqcFmiOO
zvMcA*;_RTK{R)Zgl+uhdcqQ-+MaVnumg#h!8P+F9^xCzn;(RP?JI!_7%8KzAtX;c8
z?#{>cibl?eW(Bz9sO}0mijkcbbK|J`(r%pW&%pih*c@61yRy_xjP~52w>uYOscT0S
zg|6GFma2Kp9Vw)yAB?A9p6IAFdFnH$ym07c-r-%uI_%0jo+40R0PXkUs$ysCoRwG6
z^K*8>4iM^R);R)P5kx?$KD3#pd7RZjE??lAM86Hzcmu;XUZ%iOKZE!hZ4phRidp-f
zB1BBax!+(=G4+h%htw#aX`)5@6pRDsey9;er-&Qvo_SPxoFg~wGxY^r$+Qm=ZPae#
zpO2UCUf44ZHoi5aHO2?={Oh;9pt%CYuUdvv?KP}`oC9tsrgdwcr=vnm713Ai?QCs6
z*nDDe-s82CBa+{Ox-r5Bc<~Whc@=`$U3kUk@Q&qk-|BEh`xgvCbYi0!gOEC8j6G9u
z{gs0@;FSfUf%8vTY{*48?^D)v2TyyPGJ{O^Bdt&nnOna4AD-7-@k<<OVzgfQ@{f-<
z2iwu$(e{^yJ-``vu?xzShYR<<<I>yMj?hY?dPWGtJru28h*;WPQsUn*5&Q%>{)BX8
zh}myWoXXkbXx2@3;%XF+!h&?MkNkI?X^-|!`AtOeiC4MEk=}Lo9y@7Ot%~COS!JKK
zDwLR<nH5KMD`$-Ou39J7K^O5%prQQm7u`M!s2FXss$MzkRQ5TMuRBo0^NOt9gnRGN
zqsKcNVP1q3mZ3?V;i#DB;&zCr-Hms%qi_`KIP0x8e7j6}wKI+N1eM2u(nvuCNMV!}
zu~t{;bc3i6qq>FKB?o7yJ2dl>Ns%V9=NrS<UYW#MtcDFMlnF}A;p!WPKy{-CM#I)3
z2P_77%QY{*3qC?ALA?A41hWjkgBU_IibmfQEFFv-ZV-LJi5GxKxTsK;%;D{(B3RS_
zSVet+Y}Ql+<Uoo-stnY1{0ZgCGAEg0Yyq+#;xhFi{&0-8D5!h@jKamN_pa2fC=x}2
z^hLH)_aJJIC|IgG0BuIiSW%gvLK62$^hvCfAf7Q)XlTfUp24oUyZOjl1~kYw1%m(U
fCf)spNVBBVofV2+-wGU*2zEF0FZ&*v?_c{rZ*<wg

diff --git a/trafficManager/planner/__pycache__/__init__.cpython-39.pyc b/trafficManager/planner/__pycache__/__init__.cpython-39.pyc
deleted file mode 100644
index ff2c8ce2aaf4e36baf39615f333f1ad13821ed71..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 156
zcmYe~<>g`kf_q2Tr-10kAOaaM0yz#qT+9L_QW%06G#UL?G8BP?5yUS?{fzwFRQ>YA
z%Dhzl<ouLWeV@$S;LP0kfYPL#%w+wNqQtbc%w*rhyu|d>BK?A##JoHp9Uq^Wmst`Y
YuUAlci^C>2KczG$)edCzXCP((0FId^qyPW_

diff --git a/trafficManager/planner/__pycache__/abstract_planner.cpython-39.pyc b/trafficManager/planner/__pycache__/abstract_planner.cpython-39.pyc
deleted file mode 100644
index 3d830139216d0e3bab69b4234d5455da37ad34a7..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 1623
zcmb_c&5j#I5T0NEjK^Nb+0AApf(8yKmJ*v?MGCSI%Cd_h(8gH15lDm3s6E|l4|LC%
zo^g=(nmh&vu6yDsc!@r6;lwMzg{mHp;|)PvXlcq-)ipI$^?ha1ZhHot-+ujt-g6A&
zcQm#S_>3opVdg)BLXFU%CbhUJtk5!1x4A8x&=GFvYTMy8Q4i}{cX>lJ!=~12+!L*^
zrS&@ZMLTSZPT0|QgYSrL*wuQI-x9sBr*)6t7Q5lD*bDbe<EcSg)PH4ApE)n>@DA8*
z+5x+x?R~m)Vf4FK3-5SY%riL(&XRb}(pm5|OTAN4uu*XI;nC5<!^4M%kAuU<qoa>T
zj~;oaERSWfD3UB41>Q-vSjl8IFM|7VU&ja2RWSMDj7%Q{$D9Y}c$o+1ENAisql3Wv
z1Lk7%P1Pc4niT{S<$X)p$Df|44w>eKByk}a)I=f5IZfgMqraSD1|1G&{VO(4V$R^j
z)@QTql*LI7iB$X9k{3y3LZCO1j6w>y1gm+T5&Be;#T;IAFW~D;dCw*Jj>SbLS232h
zeHvgqK``%w!i>-aKrLodk6P5G4s~gb)_-zogEn8eFU`=QCJeQuddKTNptcEzMwuMT
z8sv~I6v!Znxn&zf-&L*bb$7~>P-Ha2DwVg`l&^d?%OYBJT9d3;$~1N%Lv>I$;W@#Q
zk%-i|Fs{w<HGad%8NZY};FVnzw@~y@>{a5=&xi9&u;Gtnm9k-+Q8qkF#6=>a$#Tk*
zcnH{BUMBG~l9Cyd!$sNJutF_bI|hrDa!|hmnR5$-(YV_G=S&6|)3?UsYgaX*C?$eL
zk@BKQWOT_<_oL{CCE?|b#Fpe;6q}MuZ6AFd5a`cwvJKO6VHSUB@BfDDZq<XP+2mi4
zZNm4j4v@IttZDinculfz`|cYksE$C^Zm^ZNA;EtGD|aDG_YWCy(r=`d?^gF)L&E93
z4^M^4!P`38;35xhrqE;8!@dU>?_r)B!$$A8e^=F`h-Pt#<>eB13Rp_yfwIXomNsY_
zOjRpZizJ;%WUlJPnGjhz*jfg?G^(?{cu_9BtYh>C)ha}Se9z=yL&BT>a?cPF_0D>k
zvaR5aOE0C`Sr!S;2e^TH0rkGBZs`T~um32dj~(FhYJN%V`)!<5jgLzze}Ze7BS=oo
Rx4Ncp`KE7{zg@fQ{|%)Nje`IH

diff --git a/trafficManager/planner/__pycache__/ego_vehicle_planner.cpython-39.pyc b/trafficManager/planner/__pycache__/ego_vehicle_planner.cpython-39.pyc
deleted file mode 100644
index 5e2619d176c7a751272c4bf8bb8e26cccd03d1fe..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 3556
zcmaJDO>Y~=b!Wf0Tz-h6sBbx<ozyOyR%+8CD1^drY#B*hMKUBg4HhjHEAEI~YCq`N
zr4+f#lY*Y=!sns~@nWE-{DGk8r9h88&mosw8lZn5O;Pu~*`>&&YWeZr%=?)4F>l_C
zQ>mB|d_Monr|#LRBz=LC>5mGNd+?7x1K>(7@g)nf?2|yYWP)SGR|3^i1I^OJT=n&!
zU=;$xGQ?c-i-BpGVyye6plp@JnD`Z|BG#-1GqOaapk~bqPQkASbJkqYuo}U<H7{s}
zzYr{1i@}n$6f9fIf>!ibf>moZShLoML@Sp!=xZZlt-mX|rd#?%a!b^_P^_j)4y0E3
zONc<)Z4qADJBlegbrLTMTQV=+r(NgNiw2ArKBQf*?NgwZ9(JN_+V)});*}2ue&UU%
zutfcxqc~wsI{~T3z7vL&0o8oWsOz=Gx(c7!J`bJ1YlF4Kfkk-%Mu+Ep%8UE7oj73!
z3@N<)Xb=jO9VevR+>Kb^_+nh#j~w@1=JdPZk9Lqa3Gfe@(*x~@owqTb>5l=Ed+?8M
z1E7*cT*;DMjVe^78r5lm8m{~Y-Bn!m6U{1$tmxdFgs|Jvd4YB!`;>P1LOTi*7WqDP
z?P!uPUS!}^2fgBp;Q2(Te-%70<09@jdpe`ZfQ4=JZ~TE;ld$q0z(4*>k))LLq@j_J
zOEQv%#Z<YJfufAa(CkRVQY!b<ZRuClVL2^bYH4{yi1hRgpz1*V$FP!CdQxhf$n4S6
zEismRg;T;lf*FjEvMdd&i2<V`{LKq_IFppps!NuoUOC5=99MHZljB;BXI=TZKCC5m
zVPPhj>ow9Ej1^aTt_^3Cc~?yq(&`1dkin}*!#Y|>>zM_C!GgeGL13^TFjx>cvoM#=
z_7;0f5a*nT^KT;NSux&9)!y>u%18nWfB&UCYz*hqMi%=E!VZ(w%QaU+$rt45TM%yp
z;%!{TJD<m!;Yym}YK~`eT+8t!UbHZdxACob=ks`XM7;ANj&hn|ups7OL13^TFjx@y
z+IYe9KTjgYIG`GCq$c=4dasS-;X=CLN+-$-ncYpzbfF`MYHD`Ka1r?HNwatJL<ZjH
z$*t5(UcbQc%PWnSKwU`Q7*l)SadniAf157AxF9rNCbxTcQj#vFrBq4vRC5it_`EP&
z3f~3`-|e+r^F)JH|C-#s{9Y~xQX>r{8bJGo?nnpfpK{OMg!L6BUn}$bT;}^i24j{}
z^YRBH3C_SWXl#I`W$<Whsh7)d3i+d4{)a+-C6`~BlHbbZe<b98bFB{xqJB!3Z-Fdk
zdwnEhEdlk%ZaJf7Cp0ZCNf|F)g5Fx$Wdsf~v=8zzC+D2RoVZ*$ch0zSO8u6`OVC0@
z7qmT>YjM|sHdwi$CD;`!?EzynOl%N@PFH}oN<sQdT>07kgZK8H>})r8_YRx)A2#26
zxc_jgnYUZ&Hlbl*-)?$w(+itZO=-Gwk$nzFq(v+PI@ONX=_Z}ueeqNH>Gz(!o_GG{
zuZPX96E_FpNf@1l&7<+%0E}n1ri2co#POSb?EPNYX(nDkw?L-#6D~u9D$aSeLlaws
zadZxmuv-ubFOH**x$gA)G<3O<yC3sP*Nd^Y+jzO0uo5chJ`FobmuqL9n{?R>(AW}!
zWdth-u$!_q1UC>A5ny-a%7b_IxyInGp<ID=`0VijdNIZI^J|3bBHuADFdD-(7jw-^
zXaI9R>U1DBu2IG!#uqUf=hX3h=g6maNI%Yk<1-T?1{?F@Rn{1Ec8SYB-{B_Qq#;-e
z+muz%zcO-4xaWudf!OgXI%Rh#T&4~r!CHn?^rt+Xu-HuzTx`2m6HT5_+6PasmF4Qe
z;of7e>^#`vMV}sLPFw4!*Y09wu2%zveQq)=6S0T9^!~2>=*jMb!}s@gxqgiIbiy^4
z9t}FJRj$U=KW24|Yz{#K!92Q24!I5$dF*xA0?y5Rx3iOwI4t4iap|K|mH`!F`%nm6
zfsxgSk}hTTR8hkMRw<)qb+V4eFeg^Y%^n?iWpm=eQNz?)rTlUhH@i7?Qx_-OsAZd{
z_8q9Q`?%sZfImv?37~)OY<8o7Zk{>kA>C|8F5TSmf&(wG9}kXvue}M593Ok_51i2H
zP_`)!2H^ZPfrr!1X&e1>uHqQ;6#pB5RMd$<%Cah(q^y|4Br++(UnS}*RnZXw#~6RV
z)^%NQLE>M!RtNcMUQI45b<kId4BDz({TBcK>DJ|{rV<0})rEGIY{@FAzB05btY^N`
zRh5)q=}Hx-8AiH1{(h|&kfVeCe^Wsov~hLtON^>G(w@ysUSJ!TmloM=ncT2#cs^3w
z=B8~2kvo74+PrMrPX~^laTvbNnT(){03TRPM^HoX3k0}%Q{Y3K&H}(njZw@nq_3_5
zP}Hvkw{?@<0UocnqacXF4XCE^i&@y?)tr&nvN-3$9e#WK?z02ugt84Me<@$R2Qxa;
zV13~%zw^!75jlV!Fwx8lhZWGJwY++xX@TtN88MLp=$O#CD6`)D9}5FHZ+?@O!V9?-
zt8pEh-9_6ogT(V=%!atj;z_5?T6NC9dLfG@m$f_GAYRM#CkC=^j@!UZaajn**+)QN
sZzI61n%X|Go4AME_*qsHckz0R@jfu*GO5A03@6DTb<%)uO*WPP01lJ*4gdfE

diff --git a/trafficManager/planner/__pycache__/multi_vehicle_planner.cpython-39.pyc b/trafficManager/planner/__pycache__/multi_vehicle_planner.cpython-39.pyc
deleted file mode 100644
index 0878a90ea84ef2a339abd26fe6753e7ecf5c224a..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 5754
zcmai2S#R9d73Mk%hcjAZEwO7lUXp1VxlMsKaMK`;m%xrK8<Je4Y*K<6UX3^+Ir1eX
zM*;;Da1gXWQv?Otmn49cw>-7Kpl|&HMbU@*keBo&|DbRSyWhFwj3j5=a)#&b_bm6^
zv(RrgEd|e4fBjSNt8<F-H8qYt1{!bTP5%xMD1jO&E|prO#+s|CRM#UtHe5s2jmV5E
zZY8d|)wt%?WS<$;W6QPThTDj3*Oq;is2R81maJE!v3T4amvuFoa3>_5$#_arR3)Bv
zpOYiC=tMl@&cw6sY&_@A#q;jG?5{`9$0yyB@hSI|Y+KQH;?wTw*m0fsjC)2^*u?$|
z?CgQ+o_kvf8iD<x64<QuP<PJ<>ax;qegn>w#kMMpt6?WY*|@WsGQRC+VLxf>qW%_J
z_qW6T78li@vGuSMG0`Y1D?6JEQySO0{j01KrdT1Gx3{7!95yGH!=xLr<&13(`ha8l
z@@krKzmv(ycOySZ7)QT#m$Lw55Nbo%gITxygbDlRRw74a%UbO7*pFnrzSQ@Fx4FN$
z-qwV*!u=lWWPQFP%;n6_h{Ca}JBc5M9k7=9#6cA`qF&UOFxMv%J0yssPYsPX@unXE
zFvV2^#npl-rZa<?tir0S#_DU@9Ms`6GtdL$L({b|R%4C8{7erjLG?q!wONz3FsJsJ
z8q@;|J!7na-+0i#96M;DXW~dtD;Pu1B(T(&5sYKbL@<e-DS2GeVoHjvJb+Sii)~Y!
z==76}_oIjfUjOg}MV&)9T@sF%fdCIDZ4N~(S}~oO7Yxp@!dbS(lTH<k51tk(bXl(8
zP5%fGDtpyj?I~B4_dnXJW$M0qpzPK2T2IULp0T0vbN8)W+c(iuIZ*ekT-nF`T+eH{
zc3|u^(5|6g$&K7Z+eW*dYt%xol{a$xpt{%0to=ryVh{UM$hp9h*JqVamCua>RaNq4
zUZv636=17Eq4mW_wNg6H?g?k5pZSrqNg4)4bh0pJmz;J})V2#<PK7~z!racF4!i=!
zgmvfMig)L_clpi@(dx3y!)oTO?s#D!s<MvC1p7d0FbP}gR4STlVG<llajMIp)lfhW
z69+0;jr!d#C=q7BR=2uB3xjq`7%7X^_z58AGX!Rd40T0Ra9(R+m(QW?Hi!$4vlNFV
zswMrx1a_VYyR*ePOA1;=4McfSm}a6mIMkwPZ2H;ymkR#@Hhi>ralIe2ix2#rgk9|P
z19tIN7%zvhcXw+w3Og4;_S#z5x$P%@m+^~Ih$stXDe-${@51JeFsM$Xr{4uos)lN*
zHPu!%)z&J2#$!XbRPBkO8){3!SwLIcogJam3$$5VFXZtuw&Sk=bm&qJo+c`Fyiz51
zHATtQeI+-0YHswj18ooL6(}1zcSxnWS_0MTs!&m*r)Ngbgo^$HN>`!L1C76%ReLq4
zUmYq*YN`clpnY83vyxq`sQ0Wu-!S=K0tKp!%RZ;@FY;=jY^nT<th(PQS7KdWJ*Z%g
zg)z*@?EPk7Vh8mA{-W&t8&<RqR~(qYGL61t_-U6<)MUS;cMSACdd8f*oHM?meWLQ;
z1Ls75i`7$cX{w*=@}j8wlexJ+b)eufHV(PK{H)-EYR~3GjuJ1RQSMtW_mzBpqVa94
zod!=0$PZGGJpHqz>p9S+@z-!ZM8gS5gMExj3o~axEv`N7{y9tr`Lltnv3kCw61D$9
zC5;l5_Wz;MK0@UiC6%+1%J)XeIH6tVf@ZlZ&aS5qO^^k%Gq$(_|5bxcy%l!Xv+nP{
zehvT1n_}|b@-^@3wJSH4Z`@h*ZeM=q+S2Zo>wXwHSzp>EXE5lzbIYOY>8$m+Q(iCU
zeCn+Foei3tNRL<8GRAiY7R=c_>xAhM6W4b->+ood)<kSAbI4@vzC0S|tt%st?#?ba
zZ;i%!@)@|+ct3V_#|S4U0Z63Iv#~CHn^pci?(*)8v+k$PR<e=wA0*D|Aoy_F^J0c<
zvA+%3`KuB05?Ekqn)!=ZD8>#)h~ZS!hl@GIaYB3NmY5Gy?|~m?u)rR~>~%R~2}~m>
z7A-Q<UTL)ZT+F3efAfg#J~GrCSX&t1j0rvU0&!|+X%Ef);SzqHNHD@=tuLf(HW=F^
zDn?Bf#`4OYyF$m|@C#VS9a>zc!;}n*)5KwM%A+^H(j{TZlPE-VhIVM&SoCh*TfDLY
zRTL)UywBTB{t{u3Zl_H(vfX@WaQOl?F9L}AP~gIp66W8hv8x2$CO}T50IyQ*9Ket8
zroRSIVDoFR_9rwO-hk|X&9qfR9mi{<zoxd}E8sDnR1E5=!7mhLOPj`+p-z`Gts^C7
z>n)u|=bspu|I{3f=F*NWxmU%Q*LGhV<!eTG>bA<~L3YO^;>(BPAyOsjaBiXkCqWM2
zdam^pihmFbz51TEXYRqN^fW|A8jSX2UJ2AWrKjimtdbi6B1Sk8^iqJotlXar01>x*
z^8}ADZ{v_w5dBsQPoD}i%vhWjO5S82Y$9Mqj7L#RyILF`ot9|AFAsx{ln>9+Z9p--
z(w@kZeEOiyV)<|IrsDt#j$%@?o@m<iW6iMC-7}*Eb}Z6?mnPrLNg{>NblRwVs7~({
zyy^D<GWh9CeW;}^3TdSXv5e{%(J~DqFHtMdq*$)6Ab_`!TqL+`Nr!QYL^=8XFZF``
zL*&ObP)y>shY9`}<0-_3wBip$1?`|96oE>Tg5ce~FpA4>FYi3f*-#xwSrAQtH~2m+
z9WQw6A%@tN$LqhMLYvkZY<ajgH19Cnr8$yTUz#IFnj^>0oTG$WmQy~Lc{jZ@Y*FXH
z8quwEUOJjJwJ$l@IxCFvz@<bXOPzjlY=`019=V)G<sOGbEXfSvDLPjB{pgaj!nYWC
zi2*)T!{it*j-Le2;(K98*L7rb>XJ}-TjMK`u4oXSE73C9T)vE+rxp1U`u6dr6vity
z*_YjgXB_M^ya1)MN7E;rb^Fpd9y0_J*xte`b$SH{+g0|=G8t;o<=<Cx8NuAQpwE;j
z={+6B;SI#3#=e1g6LDx}=Jl-dP~*4qDpI3*551~#|AOqVqyIwLZ}l3*2+Ry(8);^~
zf|;?9L}3hjH(+Kyy1$t>(%;_S%v$Ij!#n;^+q1KY90?T6&tzFnmF09<K3A3}%5nx#
zZv~0htlZnq=6dr;vaH_of&Q_%*UC-?Ms_N1Jj4wKM>qGz2tz(rV2~v+$PyT22@J9X
z23Zyu#`9M1JH6A8)VSpCUs7r<S>Mb}+<kMAL$pe}BGeCrx+Bz7sDaRT{0BncW)YHJ
zIx3lbQEFzU>pn92=CDs@bU(!ooV?#RaxX{J2ji)z_?w$7!Imk@_>XC#Ltu#j85p7a
z0a89>LG<lG8Xklh$cds5Dj0YyKwd<_2VW#`hrl$gt3)j6X6wRy5C+*gCw1X2fnN}K
zkHGr`eo4S1FiBtvK<HO4FG+%h$tjEzIyMs%Yg<UkkEN0o8GNMeiNXrLi^a$hhgp5f
ze@=T!$4*XM=wRHf<5o(#(*lP<Hbc65VI8jJJ}o8DiAGR-I-xvQsG-a^as7^4TK)p2
z{uysdvQsnzo|keyOa5Ab<JzRm1P$bY)UFMF|E^SIZb<pze=6oA%Hfz=dsL~7BVyP+
zKk62LD+6z<i|uJq^E`a)VV)-}&x`xP7GgzD*q(QP%a4i?PG+2s5oi#gtdb*vR5-bN
zPJWR8kbq5q0vTaYI?XBF<Y#4@jGeSgoXn1tz!9lP`N%NnIgHXFq!ee>s>&k`EaIoz
zkL=TxC-%L{W4j5lJhp8K$03L(oL03j@KY#61&WMNQ4%O7JN-EBCkr@^!B;xTjcAnv
z15Zz$sbEKb)VMGVPh)?B@dY0@hrYlKLk3UwbBb{ac@VGe>>$4%&M!MS**|fz)S3Q~
z4ToJ)wzv!U;=#Ch8R(9DPLTOMRBvHq09-Axi0M(o{3nEaY%2?+bYb{?t2ivWw?&9R
z$1BE*Nr$@>hf6ndu))wC9A3iW7F+V$kEEVIpl#0+ppzMO(4zKwp=@uEp-Cwoz{d|L
V@3cCNP}kNFSE;iIc&9Z>|1ZzeD_sBp

diff --git a/trafficManager/planner/__pycache__/trajectory_generator.cpython-39.pyc b/trafficManager/planner/__pycache__/trajectory_generator.cpython-39.pyc
deleted file mode 100644
index b8234948c27c725b58346904e0bccfd62852d759..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 10559
zcmd5?TWloRS+09mS6|(3-#vEEeY}~mXJ&7+lg(UqJ$qx;JB*#(O_Qb6?o+nA-52|G
zd3I-VTEKcFP{=NW1Q8?~sU7hE2!$6O!V?GyB@Y4dfDkI72$YD;NC-u+pk#I~eE+HH
zw#VazMMx2C_o-9=xzsuTIrV@4_n$7MQjUVp_y6*bS)!;YKcJhP9~(Cp@NEsMio%ql
z!c?Z!)S`;3UeoG&QCCBmQ8XblYF0f~j7gbUv+MC<T;{EsQ%@8V^<*(wPZd-3bTKXE
zv0A2{EoSR|#Xfm&*K+m#Vt+kf%**?DZJ<6_#KY0IQyZ!e7l&nDtBn*#yphhRH@2k~
z$610UZz{!oUd&5)d6xP>XK9wXX%r{e7-W-PVnp$DuMcU;E1*W-2Nuh*{+niTf3G~x
z@@O}}2GQ<7Pde!hqg9>_ePFO*HiEK)-WVHQ)o!Ug$FzB6YW&9g&czLXrOD40E?3Gc
zUSqlNhSzXrOTKruaQfuw(<e?ob>h^Mg;OWbo_YrV&aBre^U9iEX*SLloGZ0bqv7$w
zQj-@-g;u4pT=NRoyp>A1<~h#u&9&>ivb^FKj+LimZ-vF{g)6UIE-fA}T&&d!SE;a7
zxaze$e$8Xk1?M)c;M|lN7?&$8AJ^FHVQ(ZVHz6{D<i*97&r4<ha;f13$yYWSWg3pW
zi(hS)*o(Zhwh}mVO<ph6NIazlvDX$`3)k1Yz(&R|VSEsp^FAgTI19W~^~!#eU&mtx
zm$=vPe7A{7qP@Eo&JiWKc{#y(-&>pY%9R!#TGnX5(MQLXzR%;^T0kPysxqs*^+a0}
zT2&QFRa-UqIPHRY1ri++W7TLq5#`NQg<E0ix`nouAFJA{8ox~SX}y?&HPh!_SeS|j
z7G~jltw6u#)q;4v^p4wF^E?(9Etj!SP%4+ZWz0jC8yHhy)Jy(KpjR48Q+g1K7Ar8;
zNNUPX|3KlRsCnnrnU!YUn|Zr*z2VK2o6MWJT&d4j>h6_|#ag92gGE?cs+3<XHA>4K
zpNSMj;z*nBGBn9cQ0(;D^}xaYDzCcqpnasFJQ789)TCyqN!59v>9(0v4ULaOKBe;^
zT!MsO;>%bKEP@wU-19ehqij;k=rfFK5?`tG-^X$Yr31xpscjSLRoj-(nL47hW4LM~
z3e(4wwvD_2SsYgrR|i)M*95LH)Un5uWwo93wT|u^EH2EdDQpqXE5pjB=3CqML$t)P
zO^rEQdOH=BSesfqjkY#RU=$gV#1^>F&O#Cw8Ke%{Cqx!KCq;Tw%PZ(bN`xgGk;p47
zMKUQzzgt>6v;JF5Y4`cbYO0-+{oQS6MF#!;Tf1MRaQ#s`@25pp^s|J>v-EpLd%(|h
zvcePtVxZb5Vp~RgPz+Xcx7605^^e40r(e*9%x`I`;tzCChM5du{+SVFOBb;`NrxdN
z{q<x+Bprb?lxb8?%0~B)jqM>D7Yd}B(6<cPZeP@s3LOl(0~puDmVz;Um&RBf5IMXO
zGKYB&w)@sUTK|{zABsMvY^b+1Zu^s+0?T3^`@gQRK9T#n@(p84RTa@Uub}Jz%SC1V
z-_S`8og9Qtl<FaoWH77(yJE|14~ZeE53{F@p*^%QBD(t7IqyehV|&y)yknk2nCB2)
z<osNq%`ODyth?aOfB0A5qfhcekeqX8-FbKZ;;UCKUn<(YoHN&x2Ii|T&$$a9hOfX+
z&VTsZe|O|ZiRr#`x9QE`z&m9*EX!Z`aO#V{@fZJb?8oO}IaNPUTY<^~9Y!LEz3oZ+
zd&iD!Y~jXXSn`bqE0hZKz7@(VrN**Xpf|Sgb_EGp;IoArc4RdQH$E3NXfz*b(K=oz
zmulsWTFHmmM3*hUxfb?SX|#N=#HOc?1by^!ORM8n8sS@>j9&TBo@tG>z^<XiTB+;>
zIt(4pVs6M)8bLzVach-&#ScuczUE&KtkT+=*I>AE8a<yPl?+faNJ)Z{6p|oK!y~I%
zmNtnWqmm4j^hXfjH{EiH!^&1ljUZLt;6R3Gw4p6^TJ>hrUuk%)7Rs9&yyc-oj21Wp
zyX>;c(o$eAZ&X;RL8FI74vebDR|CDd*eb#z(h#L>%T!u!quE$#)|!oGy;2ThwdV3N
zG#8l6TijR<v<i$ntah_IaHumJI2lsdecVqCORLGrz6LfP0oAnpz$!NzOO@q7T`1;z
zy54D6o#=+JL}Py7Fc<SI)z@kO*oKSU65SQ;RyXI6JgQ@dR~Id#9D0)Lga)!3w<Yx(
z#23AmFNYmvX-kD`^cfm-Z}AD;I2rdKPBRN<O0XociH}jqBxx?xp}QCAoJ6J8A0bg<
zj%ukkV8*6DEv*`APDT1aQ?+}B0r-L3P&FyH)bs;G)9z~bt%M=lQL8M<9LR0dN^9tk
z+CI><{C!Q&-P4TRUCqpWtXb(hS}gff?ST<@P?MhPp!Tq8=y?Dg`nYfC^t^8S+>Z9i
zk1dP8j`6-QWrg@>(iB_#Wypd!hjX(mog15b>@vN*d;%rq7?SRX_In&(35Z{T7cAiM
zN&t*i3Hk^W<H8^?1n?P5m%s<#q@6?=!I;r8MV!13VOK2zO1i_>77m$vW(o;VfISPa
zmlhW1B2D#JY*=Y$8h|x<XAR*_XtT;K{jI+NU}dXu->D{~|CttcCkcsKP02L9rF~Ir
z_rc8fp*6<4s<qygdGre(=)3Fh`WdGBS&`dR(W0-KBbX*Y1_bttSa`px+%otAMxH@i
zs-=guL`v4otiKB>jiO(U;;a9=QNVA$@+rm<A5%W{IP#d=yZ(TP`GcF<EuA008Vq%Y
z;ZTIDmdAK^-lJx91W=wA1FJe9(4lfMxT-^2VNQ#r@E^PDw`!71&K-5>2}{~F1+p{H
zC#}IK?TYFsbfmHb#*Pxqa}4^9`QxauuR4K}Bv#zq)ZuP?50DwIA4<f~h$2_9n}2jI
z0oJXr_EwWd^AAGrOwwH7A`OdS?934{B6mc$7upxy{LUV+i^E;{G`U2dZck|Z>drke
ztaSIoEp7cOW;!581O08OenGCoKVxkB+oRiZ+>MD*F$S&c{B_c0=K$O)wLLDzq3QAJ
zK@H>Cv47Pa``1L9FaNhYr%$ecwQA7*{WSYI+}EtPul++9@!`&qEv#XCpX88=*f%Th
z#6EJEc(_CMT~lO^_J@2!@ML{RSw*?jQBS{NY4`nk<atLomG%Uz!YIqGs<%u&jdu=q
zf^-|+`^P#{aLSbGV{p!Lkpm`M!NPoospRZ#(QYcVC&ff{qI29oAtobRbCC7FCtbE%
z#(GCgbf%@ds!9iKrgKtEgjTJpz=Gwa%L>QYpXr=JNhs0Cm4=f!(>c9|?D5?)G2zaL
z3GlM+EFycy=xsJ`S+FWQ=Q9w_r(2s1l5NDBWAd9K(=K2p1vUugKlGm7-rsoLkFnus
z#81Ft9f)RW3(DEU3L6>2SVQ|7wiXAvt;0GPgUJKz_ffQXa#Is=_euY$&eI|;_Df9~
zSdCCm@t>WReA1T9?0%3Yk<2S&Sba7&2CEER#Q69_IvbDnz*C(w7`0M;hQ=)nIN(2n
zkz*g6jdli+jcBzW8sEN$*A)Ah=I{z;co1~(V8dc6T?rqfc~6WfY!Z|()Iv7AV`D(Y
zLm+I2{m)jPZ66T_fq?2;O8cldgx&s8`xtfy?3Oqh?vCCn9>e<}SFt)l_*wm2_+H4o
z1)Rk@BJ&5^M`4w52PA|BCED0Pf=Q8pP2Bk|rSXjJdlXy$+yB%4c;t=QOQY2paYSnE
zeT;7gbDwA*z7<=4AK#neFi1~fPSO*85FQGjL~{E9KDTwsF_Imj97R?5AtZt7Moi`(
z&)+6LH@Z_Ul!@hZKUANB8}s<exWY2R0B<GRD&9F|MEOl^-N3We@X_Q%BKV_CpA6Jm
z=uJw$Qo5ARv*a<CoAtGG|B8D5j<0g#g!Dl7@-U~Ltu;X-TIZ1Iwu^@N<MaFkHO?Z`
z#ld#2O9Hg!F@!cG)sV#GF;wBl!+LYgLIWY3g5Q)?m*4-v8T|j}c{Gr9$wB7SASxNW
zupF|+kIpZDDgUh(|LMlf^S4P2c;=<Lhqy_je7*1-FRglzgyFDo5TF&&DD4Z&U;AD9
z{OS3rbNpF)!dXiCkpxx^0YQI-lON4bQ6k6jIOU|bZukhPaq>0;^R<PSE?o@<dW6XZ
zdkT5fso6k%Cs42R(^OF}Ew&J7S}7qIXTDuw2s=4fF3nz=U%2}6#koL#{^HfZL2wNm
zkw_D_s8NjEU>6L?Bzon8lz8uiK_Li3LTF057w8ys(6_XKK#{kD6okYs-3=wVi`S_k
z#fXCpMX_oX@D1jAY}pIOHr5#KqS3qMW|OlnJC*tm3`wh;-XL0mb*)s}fTK>KC{C_7
zpQYpyB~MfG6eS5to}q-6iGP-obCjH?<N_s6P?DpBNGd-=$%~ZG?&mL2vQ1`bA5Be#
zobL@PdYO_pDS3sGpQGdpNP=XSy^<og*STm%tkvhQqFOOVfka}d4%X3)mY){AXo7Ep
z#9fqmVwSC<Nf%ah=+f{|pA|ER47k-OA`1-{GgP=!kRYXXS5vJ7@tzWknO;%Ip^FwR
zhkGizo-U5a=Mpn?n+^A&8GQ-kl5|nNTSdDYL*NTka2ZL^WumN@>T*&dmOj5qRmgP6
z#VsPTD#g3V=Ex@+fnP?`*0;zW#ca?$BAW858=!j{@`Lv^L%U<x28bh3Kcb(>2evkh
z(oqo0@t$O~CrKhMnnfAtqiR!Z^qyg4?;0^pBXT-;-vC3MpnlZkeOn*LmB?jymkoQ>
z@{py`o@i(qGJ4vCrm5o(tiCkH0t%|xpr84Bnh7$CT8P4G79`p|kYAhPvPnFR`pKyi
zXfa5XSIwbTL|Y#irhyqIA6TfB#|W}I5oMa6q{j~oJ&j)QED&D9OnyQSqbRlIb3nL>
zAU|5qNZtjhwm_qy6-TqQoSMbhh@caBC!N~3$B6Nlhh!A_^dmGodDlXenP$e{#fn97
zW-i|z$)$G&mnj5IHbQdgZv&*dUS}`3OuRV?Ez7Vn*fcW`VtypF?CVuSm<e!X_(&$D
zzKKvII4qcz4OSh8r<fG@W9lk#a$MnUq!2iCMkpK&o(+#(a^rk=95^44VN8pBNSrPF
zJxjJTeq5;3C+`2;ci^ES4{ss?zcb_O9Ro7-#8U7fGb{~XCEGYB<w=&2&xn&BDns3l
zpOg}WxZ$xu%Ca&nEx9T6$oi<gpXy+AA|)sUjUf7#)kcW6o%1u*EZBJ%u2uO@L?8U0
zKWXPhzS9SP-rAzza}J@`e56;>WUlAU=Q^lKA=+&j{P|pG0Mby__3?8EU_UAw+Cw&s
z0Cc_^fEIZ-=Z}yCoKNM?iF`FD`r*Gsd5k^ZM#y~qIgyJ(&X&j_v>eVCagN@65pI`r
z9f<1vPz?M(o~s77)}3pVkLIeaPe*grx#N#^##lc*^>Hw`yy)+R*GUIE%LY(qU$+$6
znZRy<gbiY+${j0rg-J&cyH*~@4ixRFKD5emjp>kq_QK9JepE*BjNSDnBT0CufP(}0
zenX+(8Q8P#)z>c0x^M6T-fO;}k^_{GFUo%b$!#*^IPKFL8}-mlEkdx&$G@{a{++Q4
zk?&<);EY-vrsOCk<hV*tE_C}IFDz9WtW^j@>8qZ%Mp5v&&(FSiX-7aEpjxSK)VqQ8
zbMVr_Kzg@<jJ?aC{PDu`Q8?X0r(Vy$TO|KZb~!Cw=BWa&(@>-vH$%Ce`$ngJzVwzt
z4?ucz8&pNQbkg-8A1#cJ_sRHp6bh$tw03wNyPTNMQL9~^47m#OEN{0zBt04F(~vte
zHMHA*>A5aNha#S?bP~h)gh0;RP|oM*5wB4~-V6T~B=Beur1#*A@GB&fllploNJa(W
zRJK812AR!J`gv-y3;5-NMC-A`quf5+d=opS^?kHdbPD%cdK72|{tz|+G4ERlF(a>s
z_-Ozw39GZ}Fs`{S@~VWz+Q&wm&~qEvx>%UsMqL?fPJawMj18k-8v$kmPqkDH*csyC
zr))(Ss^brsZW!db$ndl_x)b9=<c;w!V}?`4_G$$w94pIXaCyuShN8(`?|ukA9egEx
z{vk*jUQ7x_)0txTES6q;klnWJD+nkdFpZ!zg{TwEq!U<SZmOWq+FLInJe&du8X{fQ
zS4}>*eg>figqVH6>ZXcwLLYD{B`_x@YMBVF`ly8*iy@r+6`8|<I&w+=*SND_c2pKe
zeFDqhQ}G<o)KC(~IW5&l$TUgeY09}VnWmTnu*OJ)Lm_WJ-O0#$DM0}+YKI&^9RV)D
zBTD@&o%TZB$5M1^D&aL3N<<6+iSViYfK-CyK0gnb!zr=IEUO5d;=~%Dn!{Y<)j<UK
z`T?(bf2ca##u+Jq=G)S=jsR2>5>#QFVHl&CK*Qk)u8k1cXlGo8fV(HJx_}f~9EH)|
zKG*HaCijpP_K@xGp6iPKEmNN5j`|2?3kqth{7szYjv`=9z$)_?^<X;>V0{y()!|w0
z8358C%gV!uI8JHv@*Ec$Zaa+$%r@>H>KvBg#3STrRLw0zRiYKcF$T0QVE|z=ttAi^
zAqjLvJywrmb<c!#u^-~m6TjKjCW})m{!I}Ne_|njX3;;#H?ehhzyu-03;ZV1K)?L_
zWlFBfh{8f>`y~`e1fe}2LIFX?jk9I^N~Y--qF+Nq2dea&nF=c$21NJ;iY<UHy;C^M
zju*Ob70M(4O&tqqC0X<!?g5wRM-^U>^4`JWCDB&=QpMwB$Z_f^e+(0(du8&#PZIYa
z74oVsuaj(lg~nQ;q)N$Sl=J{YGWHNKwh=<|(qE-|bXfX7V1fjoPXdM@frH61rqaMS
zM2Q!uOUargxBX;n;J;2ae+>zKz2(wzBSAo5FKyInWXoahqw`v+9MWAevr@u|C`A&&
zLqp&pd#7l3^^LPiZ#mQ@AqkhL5hs}hhalNpT593AdWn~y?uP+nH)!nZcDg5G{23v}
z*YFI*mRKPV28qArz-)-&Nq%K&V2C-C5tFiD*R8u*(;!<<OpOjM!M*Y-Fy$V25gl3r
zf5HRHBrN#gF1*MRUf5l{pdM_X4>45Oe8ZBw60FX&(bmxT?_hL+?Yi|6h`&3fzA$wt
zh`BCnmR(madSD^?1E+>l^er&4E%9?N+B!I(Zr1C~#&q;E0j`q}htMPp56&|iex=r$
z?j2}yVqG%S!()`QsYO%?q+kAEt0e<XoL;UV8@AsL$%Ua6ioO(2K)U01Nz>8qlBOe1
zX4mh!LSN^}U2S@+SBG=OrxCJ3g|hEHEazz&i$w?Z9uFKDTnh8hTLYT}nj-8Ay&yW*
z<u|B>vDj?ZB>j|_DpkE>1C3I}F{)@kTW_+Bns*NSMQOc+#E6F*1|%1o0|5deyc!$;
p-Ogj1Ak2__UAaS>0NX}4?j(On`GO`LgX9XXfOzev$zOET{{kO)R?+|f

diff --git a/trafficManager/planner/frenet_optimal_planner/__pycache__/__init__.cpython-39.pyc b/trafficManager/planner/frenet_optimal_planner/__pycache__/__init__.cpython-39.pyc
deleted file mode 100644
index ee636400064443b98ac48743e18458cbdc05e779..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 411
zcmYk2%}T>S5XY0WHX+b=*rNs8w4o>j5sN)ZmC_!RUY2ck(yVND<8G?Nr_rM)pTd)G
zum>-md<9Q#0)jK_@6YTo%m?ZBL&w_Z`y2hR`qc#g&9}k1eR^s^osC0X>T!4Dw(4y>
z@a{U#U2rWATK2$yaT|9X>aCqY=jlG2?W<g>1T9#agV>=P5aFCukf3-R$HVdQa56=c
zlVm(i;z>9MohnvVOo{}B;e{+~#ddjx4%0zffVMSSUM|S?2+cT0t0t+@3N)w(pd%E1
z+hLvSL1280sZ238p46tJYi+tEsdCdJWeI{BpE4y#0VYsDc$*3^&KL)bUmexlrp3=~
zl*<C5M^X!jQb{3Nuwu;$yxea&OQTAWEMw^v5o8A{Dmf9tYNkLyg{57lARPaFW6T7r
ZFdmh)2~G=1_Z-e#+f4T?x_;mW-Y?jmcdq~d

diff --git a/trafficManager/planner/frenet_optimal_planner/__pycache__/frenet_optimal_planner.cpython-39.pyc b/trafficManager/planner/frenet_optimal_planner/__pycache__/frenet_optimal_planner.cpython-39.pyc
deleted file mode 100644
index b25aa323ea460d4e78c94ec363aec381bef0475b..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 7900
zcmbVROOPB#TCU2fuCA`>p10;9$=bH;wbj^~8OgF_4_awvHIi3^G?q2vwJBRv)KpgY
z)J(r7t7fDY)x^e*2%ZLW15Psp7qbz-fdgz14uS|S1YF=k)L~<ZB@ntTK>z{kUGe={
z)$_7M5L9>N<Ik+jtUtg1&o8swQpr+qeebXSh@U;9C_kXg!HXd?hdcZn0at8=tDMzU
zo5@&f=ypy`Wrl4?S-xS~rj%**Lc_8xnbzxljiOy_l<bns=j#290ee8Ejrw3?$R278
z+r!A`x%o)3M|go-h(~!JFCsq1OS~WP7$4w+h{yR5A4WXENBAh>Nq&rvAwJH>`2^w<
z{z*Q$&ct{96Wa<}WlKusxce$z$C}@aR$F4Wd@Jx){bsHFf#0+i+{m9TpPxB@{_M=f
zv*#|9&s~_Exj6ggjJ4p0o(S4e&}z<>tsBB``cb)se8a7mBjK+3Uepquat#H-MbfhF
z`qf$MZ26;ivs%mhwcbf<p|NtcCCUq(rrQX-@=_#xG`r;aO;-f1upBhYZaM4hhHxAH
zJ?qSB6t%<I>FN9T?@tLo^j+bt)-diVjA*(oTGgQLPv35dAbRM0;EQ_DtWCE!SL%W1
z(&(qppTBVK&5P$RzU^cKbM^=3><`Srz?^JgPC77WZ(vT)bX+GL7$OX88vU$?({Em=
zUb^r$ug-YY^XF#Xc>68??emu|xz(vQuT~B!<I5`RDT8Oq2vcQ*|7T@%TAR`4ia+JG
z8q@dP$XmU-^|fnj7o++2{7dg&``L<RU2C;FBB-rK<uhJIPIGysQ@-;vx7?N2%k%Ym
z`7RZP<-1U;*z);Q*?I!JD~lC1>8rO~?s%<cHK<isV(lv}$t^|DKkArEZK%ONzkmuu
z?`^sw3cNe5dZ*cH1a6%~LGzHv)2aFFG7%5pzJ@#e69kbGD{CrlhFgnOq*bI<q}g`9
ztIKj7WjWji<T~ygZbO#mqWrefH6nATz}1*>HmbzhuC}1u`(`&E8*A21UsR0qac-v+
z=Xcdu&*I!pf0j?<+|EFjPvhLqV3wCL*FGuis;aW_VQj#<^u@;*y1X7&KK{+W{P#0I
zyjm$FYLuv9qVhxw9RwVKjub*9d6J_vBFgZ}kjSF}QKX=sf<X%UC@4`tS`r$9gf-iV
z;R?4|^AjVaX$X;TxBVs;q}#;u+`8wqTTpy*Os1=W2qTC4BG`gKZ28HU6o)?M7Txd5
z)9TS`AP$NvW>WGt1sp)+$PSZY<cgZ#%c;u=<56PN-N@O%;Oea=#jM&E<YGTl#A!tT
zU7cQS!D{Ziou)tSwYWchD`+eQ4d;$D)oIvAwHkQ0-KJaf#dN#wHsM&NtJ3i}nd5Q(
zckxualk}%A*Y=?VH(EW8zQY9sipo^|z>ocxUih-aP{&jQHJNH2{{5%^)F_IV(T<m+
z*0PHxi{4T~_=-vp1_X0l?HYin3fKY6T@#_!Eg;mpR;<Q_Q6<Xl7;%BK5hb=L99MSL
z6H2!arPgyxi*ar(zhg#)*Z_>pxDZ=$AK+*Z9MPJ-u8Kd8EUL8)1BkT~%DN){6t%TW
zFpMuh&2yjRB$U7Xsk$+{S1*s2wNVAnP%l=NrvCb}H1%A}(iYx8T~|I;1>*+Z55|XH
zPe1DoyCsgdhFO;It_7s=t}<<HoQ`uaru?FS5|t;k{8kJJpwtYcX-Hd;_CW^m_;-JY
zu0Ok4$vwB?<1aq@*T1{Ha_4HLPukBj8yi7mFwPATiDO8LF$$zHX?4F@=@%!cLXP{M
zUl%V>;VBXrsc%dQVbp3%uswGesR5Hw+j;883Awb2G<b<x%W&Ik>I!7xTL={3QO7NR
z+9~xEQo~PmW~#$L=t-2BYBBp+GB<`?zbek+S<j#rvWs*^8kAW54<u@Y2^H?~Uog)M
z@%Or>#BU+mcf!DIoCm>CV-qgeqFJT1bgsH|t`~vYLWaw}*xCUm;auTtv$&YWC5nO8
z6md6Va?ESpV$=`27{EP<dnhi-o{VmZ+C+`Z-Tt_QHv89x(Q3alfLz~RZV<WRUTz4v
z(q3+4<M(4@2dGUEzA?CAW)54>$|DL0deAxId55WJG)2s_JToCij8bqIFk+l!6BJBR
zK;B2t931uK<TJz&g33UOE;Do+?YfUuqL+&HQd<&l;x$yai<v_t-xk901~yv`#EaD2
zS16!{Z5C~bG7?y2XoWZmwV`xbNIk1;=;u&5Lz}Ldz?Pv}Y7r<q;thWUFKC%4v!3dj
z1(eZmkPR~N23qjQYI_&0R%AmGZKRP{!EE+-S<H5nSe0{vrF=>GOeMB4lD${day-xo
zKMdSvMN5n-2u2tsnisayx1`17fZ3$)QmeOC+`6>E@Y|>mO5BrWFhNG-(P(-XO(@Mh
z$->`85GlaB%0csgk#V)kCY5b<o9yCYSA&g!cBJ-@Nx$CBfjVeFD~ofJWFKm*rO!=(
zaKoebN<d9eqEU-!33+)ChpEW;C8erzo#!5zvA!VtgDo0j0+b!3Vq=2m;SJ5y8;Y-D
zkWa`jdKC07(l)I{1jg_rf*N|hH`>L!{4(BU65EpzWnKL(wxOdfW?R?h?>cwq7jC}4
zBwLhP1aV_iGvXW`|4fw-JD^<aGASSQvVG-KRQNaC%EOnid+^pl4C^Qahn>1yZvjx@
z6(oAKZ!A~xNlvm9QNcs|W|F86619_PZnIO#%Nb2rYejaPsDWfawpMKiNnx*pbU;5%
z&Afyl88|Y4Ux6?rV^pL&9EOWL{?ydQ7+fP0*CF=^h`o!TLG~|!`CTL=F#ou#!|~`2
zCa|Vry7e`-t&U<Tj}%O`PKznmCY4<cu|BC_iB@)W$a6>K<5U8GWO8~=)|YbQIr98-
z<N(K)+o4fzNYkn0Qh?Nc;|FiyKQ@=-@B5O`Cv0IEBvkiW*j4P!Kw^cBRx4U<`eB%u
zTYlZ)LA9EgwatLLP0z=)cwVBf`C>iMvD5Rh1Yd-P#Mcpk1-3Rt=sTh0{OOeG<UW$3
z@T(3rM*v8tOPZ;iE)(DYTEd7-Ei5BYV3>wFn4eH5o-#J}6Q+&*nCW9*u-w>>*i$1f
z?xM~ilco9Fb0&3UU}EG>Zgnvq*d@Sh0e1$vql?opA#F*Cp!qe8Xb|Zi^4SA&UCLp+
zkQ=Fd!-%k}fWfkDE#%Y!86t;+0x7Wzx92}}mhN1?zVP^O|AwyO+>KN?f9=}!TXu=c
zuf2cwoAb->-@U#Jz0tyuXiy52x)O?8GD|#~09nz+9Yj*EsnMOMtW?^*=ByOxq~h<O
zIK#Mwg&!0^-X<%mIujqD^bp2r6(Bb!G5$|TaFyKH4!I*Zqdx45D9*5@Nt9C=G=&g)
z;l{3pofJJm2+Tubo}jV<VShq-mUNuTvzmB1j~P&5A4F9(Zc)qI1_*`*N~vsv6h}Hz
z*y%y8gCd(;S=Yor#O7KqJ^SFLPl(o<nCFRZAp&tEE8Nz^=W&7IYy)oc^C-{zw^2*Z
z)4*cwJAXh|c`oUv3Ay|3{DSkr&4uM}B<4bvOLDhwE;`G0jw&qIpc`D@znbJ0oMmT8
zEFqUzi_Vg>G=KZft?S|)2oAYja=~;{O}Wkx7MB!p0r`q5zJUmy^eUpG^J!kLyNwm@
zUioV({2GFXm1pg5aDZ{psix0hjnvlt&cpu2R=L({@iM{U#TP54Apf6|kvAws>z%Y9
zP}&wKErBD+wFNeW6-!*AQsT4w*xTRFwSAw9DJq<%V1@!|{}QZ6&^i8`p_5AuUq_&T
zjRK~UMd;X9jj7g;^_(Gj1-JuP#-QY`7E;1PeY*E9qE35m`hq4Q4A%<is9hYzVZGKa
zW5wh8@2OpeIEPq^)E(?Wc)rHC$qO>H5cY8ji@a20HLy>(`hGs}2+kewBuKH3b6umG
z@0#5L7_Pdb@xj<y)A<l!KMW}M)zA}Dx<#<kKEUxVIH?6E-%q0;bK)Z>lwI~Q>kf1W
z<05u;1My&u(OQ47-l1BhgS9q(l|~*HF}9*im5?g&(e4mG)*a?!-H|9CkHkaqFdzR!
z>yAbydY&MjvVeWpy?^c=!=BKJM`4yKjA<+$TeJA&q=K3%*m9OzE5-)B6U?_K!9hqW
z*=79rx{5vAR@Bc=kV&b^r`iVT`Q#++?Ixmuoxxp55fAMuYr{Ju`~`lBf8`P0TuMjD
z)c4ZGj86>``vI$miGp2CQjV8*wd{$~p<2D%(OUYUTD@Fa>qTmdpXM(;%HE3lnZ)7%
zoQ(6ApDCwz8I8x|3I5f+k@PfD+}90%MYjEFcM|oF?a7Pr<N*yL$Ipz?{yo*gp6=I5
zhw34BsNOiQL=*84|EW=oln?UPXw)e`L~oP)bwUqP$N5=GVShe>nVF)Q$>u~8Ge>Gp
zXV09Vd6F)1X7S<iBPT2Au63&8HtL!8J2@vlgtcKWL<aXbHNltX($a5Tm`f$!n$ILV
z@6BaZv*!o@B1?>BHI(CXvZ+jbVNP%~n&qzaDoykf<vHQ+m*4D(&ACGx3OWrV?k4^2
zuOmUu0B~nrMkWLH#@6Jj#&PCH#6A60^^f(g-jxO}x12Yy)-Z54b617I!r(#XbLl1#
zCxf}zl4ffl#bBbSCG&Zi$8kuS-?#`<OV>75rGpDSJGgj?OT2>7!7&p#Kj59|1wf+G
z<GC=PvuSzMkPt)ioQ``xI|Kkrz)9Vv@NsA%*O57DNP2GB1``hwCOU~O@QlsGx~&Bc
zHiN+fn+2VttIk+<Lhn1-v0X~zzK=Hd7{w?Xg)8o-jUAlwFnjoN!wn8F`)4;Hk7`7f
z21jo!Hx(HbHF}e%q)4b}2X??kRJP5fo41`?@4kCSyp3#zjUQgM^><os-7d^8-n>1(
zeDmE!dkCwZBmBDWf_wT~IEMVva?H?zgvA6Bv>f9EiizO}>%_L&WL&AKm?CX4G4N5t
zZToWI6($^1Pjvr55Mg!A$+nMZPteZz7?%5VxgI;Lmfm`vs5P5CSU)r_8WUEnbX;_v
zAa`dL?atPebWfJ{bq{5qF)@osJc9*_%P2UpH-d?yBj|0p{$HJgugp=uAq9umciHdB
zy?(W`En%}Q?+LkxC-h<u&8?5t8`G=zW+iEQLi~JLyo%5^ZUoIBT&?~5=pVlGj}ISR
zt(+934rvQX&K1J#q=ZGn`PehI{^u6<PvHceg-L>tlIq-Qr`?JUScZ%8L~GY0Tl4C!
zt<}7$ZFp{T%MI;5oT|`Aj3z!;C3?HwifsKsJ!sf^2Vs(nf~byt54J6~UK0UM<lF9M
z=z}}0w(eJsCxfZGbm${fddBw}y&<~~Tf5&$NmNrxA{b@VvGs@ynMK|KgSF~@HF8#3
zn@yhd$?q{)hJ``G9^mc-cHYCz3Iq&i9XJJI;Y>=?uF=aA|FSW%X!SuF!T4Q)FJXu0
zEYS%ae~-%HFCZWShGT4v?vo&5hGzDYrCX35hqX_@)?x9QJQipDY*?j(Z~6N|&s#YB
z8Gee~Q-cnK7@oq-RO2VQUQ}O^KkVSp&MEYB2ES7%Ct62d#8SntVFZckI5Z~5sl1Tn
z9f!9($4PR{%?3V9ji3TPf4UJ(OFdY@@x7cNBaOvFY5-f<cE|3+Aw&ab4RSwA6gwH(
zjDmVNb>JhF#8@(z%J)CFrKfm=&SW?(^EOukQZ{|Ml1|#ba(IoL%04qpJ&WS{VyeCO
ziOV5h?Wae4d2}Ja5Xhrfc_NmQaoX`oMlQK{isYVh@Ez25oCEVHXY?f+t$Df8;+u7!
lJ}W38d04%l&U$InSH#re*36g9GVZ)NV2<FPG(R%c{{bUtI2ix{

diff --git a/trafficManager/planner/frenet_optimal_planner/__pycache__/polynomial_curve.cpython-39.pyc b/trafficManager/planner/frenet_optimal_planner/__pycache__/polynomial_curve.cpython-39.pyc
deleted file mode 100644
index 505a94734a479b0f87feea90391b70142429b776..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 3495
zcmbtXTW{P%6!whmwb$8{l%{QH3m6G#4Q+0{fTF5ORU{--qF#7Fk&tmb&c>0~n~uGq
ziQFgpD|l*Okn+@D!JqI0FFc@?_ys@--x=?2lFhD2g{3)r=5{>aoXh78CMO*Y&#%9{
z60e~BMxDctj?OY#b`?TstD0bfCv25}sR>;e&oyEE$X9jrOi@FxhMpn#W6iU6e|GM6
z@{P7!a=+~ask^!nw4E=4JX&%W=NA{R&ELAVaKl|#Tw1ufG{4|{5oMu_xAM51F1gNw
zcCwSUTXB%MVMlI9?s}Z(aoTj_G)y{zv?rZF=5go-sem4*&>iPqduvC=&5hi>5_;-A
z?%Iy~;H&$=+Ew>%lDLm(GIJkASp>6U)^)l-rmch|4?i58Wwh)DM5L`Upy!1CxwfiT
z*nw1`UNwa!Y>d}LT{!r)!~|}jQJ#KSo$&xoXu(?lp{u9<J+$m6h=LWGuN54U6}n&-
zHE2B7U*JlMn$XW^)3|VGoU|qvW>LdPtv}b~P5zQSvuH<Q6xt@6ft&Elr!`tRqZMYq
zKZE^PYv=l=`Jz@>h5eF0s~2@)y+d!cpxH{Zg$6M7mEUnddX~Es6kWQXu0f(kq5&Zp
zX(YUQ$%A>c1+>MIr(2~NNEz&uwIoi1q*<C-JK2sfdmZhD=afbkCF>=Bnw9!CiJ;OV
z(xTGH<5pC%yCqvI+0#8uzKgf~`Tg8RyA{p-5bUJUT-X-T-2J%qIBxk5I%`QB&gC*#
zUysADgEVMHa&9XL(iFezGD@S|ZzI@RLE`s^w+1oitC*YJ+9_?{kJC8!{Zn{fHU**a
z8mlpfFS4ub6nEI}g=0>h?QaU{lKKzb8r_%j_8lnj3pG}-Y3)2|ykLTnXH`!}Px)E(
z4D^)$&uh<kfdtz#R-_3ll59%yfoDpJC^<nw`QtQcZ$s?q@(g}Tmg9zVb$OL|k4Bv^
zNJ4+BjU2j&es&H*;|8<$IdA;K^~P&%H2&uM+}^!(9PGj7@o;a$Ai)&~@J+z2AS0-&
z&>X;4!Ku@HA9@8=x-j4wqoBzTFg1+mtUA<sEVJAfk&L&4Jl>8z#>$MYOJkq&-OFR3
z4DT9`Y8I9hB1%iba)7L#bOU4+4zKStN_%NTc>0j5M&dcA@MKZgPQ@WWpTa;7&?kKN
z${0Y$wjD!6p{c_15|q)1dgs?yBptmw1L1Kw2(Xc-uDp<M#PaZ==drbS=$Y|e7~ZwA
zXHzn!K`Zk8(((OPTXYiA8@~Uf6C~A)d>_{3ha^5CK`xh9NKnBzBq;DDrROACMtNg1
zd(xh;P1{uCA%>1Tw0Ifqe-eTsszZc8LC}9FbL(iz7k@w*PY8uY83Ku-0BM}jnmS_8
z5~d;vy_#2aq1J#dbP$Dw5o@r@?yqX<O}!$69&r#=P-((?r41|-h0qL$g?@=xsx`HK
zAH+ho>OEqyi#mwKDI8Jn5sM?7idZmaDy^<4W@1HBARZL7uBvZJ4DzKrO-qPlB;Azf
z4A(sJr=)5v-y%UJ`yfogH8;HpRSTsube5*6-k~l=@;vn@v`hAlyg(hQhmx{lICLn^
zK10hW!up(G@M-3<ORxF9VHw<I=NL*SbmEDMDTcg%0;aeR^SJ2B9dF1K*k_`YA~=Xs
zdc0u{^M<54=GBHT@*uY<V@D;p%Cm=<%;>I0FoxOq3#?Hm)))qU64qFOQG)*Ftbvat
zZPQRZa)dPHb(jQCj-W_679|yu@6ZOk*Z?n1ffuL1i&GUZf=ostJUN*x;|-%rZ~u!8
zp6q=cD0mf3s&w!B)~oe=J4hEf2eT@pz@A6H3C07aklsMc=+i;tHai4(pIbyUBf<VR
z(G0$SPDGtY;?_glDp;3srY?O@sLvnp=LrH;F#xt4kmWds9pfG8(W^$W$2CmcBBMR_
zxL`NHAC9DP&nzw97wr%PWu~1L{*|c0L?ogXjIvnTw<}h=L-j4IK^V4eobvt!z1q8l

diff --git a/trafficManager/predictor/__pycache__/__init__.cpython-39.pyc b/trafficManager/predictor/__pycache__/__init__.cpython-39.pyc
deleted file mode 100644
index 7d2188ffd5e937243ac9fddc148f09767c05d7ee..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 158
zcmYe~<>g`kf_q2Tr-10kAOaaM0yz#qT+9L_QW%06G#UL?G8BP?5yUTN{fzwFRQ>YA
z%Dhzl<ouLWeV@$S;LP0kfYPL#%w+wNqQtbc%w*rhyu|d>BK?A*)RfHRlKdk5`1s7c
b%#!$cy@JYH95%W6DWy57b|Aw)12F>t<=`iR

diff --git a/trafficManager/predictor/__pycache__/abstract_predictor.cpython-39.pyc b/trafficManager/predictor/__pycache__/abstract_predictor.cpython-39.pyc
deleted file mode 100644
index 8d1954d1ab35ddf472ca258b2431afbb1febfe04..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 1345
zcmZux&2HO95Z>jFNKyZGnl=Fn5It2uBGoR8076jMwSfSI;~I8<00sfE;;tkXyQI3L
z63AEQnm5P`<dkEdpf9n9UV7>)^wgP^>=;N_;NY8Ca(3qXX2m+4h`{>m&ky_$hmgO~
zxw|}Y4hf;vI{=&{gj4QFs+`23h+XL_FY%P0_}2GiLj_5o!X&i5FPkb#BGpP-)^EtR
z>LeYD1KCx*q-Sv``)ZI3EN;pjwVUixA_5-q)?50F@HX$fA-r?#T+`$p_+8!uzbCwF
zH~EbBFUfFlwTzBd^`g|1_%zQJqL|0OiXu8;wV1^F-|X){-rIY;_axpsnCu@+zCDOe
zM3w1$S?6UjiKF9kxz_o7QO93rL;HR_UB~A?oU-Yo_(;n50ynGpLR3P(5_}X#{~%LC
zYFex)%9>%KYUmjE==)>SWz(wGEUT4(nmB};oYgFotg4JZ%Z0?4camqd@lNxq#ymex
zF}F<wZt#m(<e3xzn-?YH&oo;u!0|8PEb$Yd#!Q!2qR6n0yUPXV5LJr-2$E1x&iR=L
zS9qMhrHRiS(ctb=!aZQlH_^Ek94dhZAZw3{8C%IZok97fUSB=LDqn1?c?9fM^$T0W
z%a<n5qJnp;vteMuG%c7CX=<W0RV80Z#O*ZweZ}NvM>n7%<KbbtkFb}fci2nQ_e9@^
zxHbPiA1_KJ#;@7B5aX=mVtksb%Uq@BtEtShF%UeP<=Jyqu({CV<)({Lk8j9NZ$l$c
zw+o5y!BfGclgP3DC*1k4cZl451>lA|;o{tLmwWGA?(@bQ59ZM00k9XE!O>RgEsLer
zP54%~(BPRv*R;xy(wazvn&}+nGz~54l`b-r>}DaR@El_qcmp|sgXozh1(JD{kTd-N
zHuOU@w}k1>!8O6QY234|67TB4CpC_?Z=DT&J-{qGXm-)yk@`zCA2VBo>Gc<2@N8RI
zNF8b;XT$p@NK;;B8~JA|Xba@m$hC3VG}G9Y&23t@S3y)73EzxGqh2rbVy**>g!tV~
zRw`8%qdV+bZcTT)@oIBLH2#a3-m1=JH9~eRxmE$w-$Y?neiL?{bsO`eFt+mlYtn>I
bH}m@)>QG_xUZd^wDg2x^ZR6vHwD0`~$RScR

diff --git a/trafficManager/predictor/__pycache__/simple_predictor.cpython-39.pyc b/trafficManager/predictor/__pycache__/simple_predictor.cpython-39.pyc
deleted file mode 100644
index c8561faccd9008a982fe20ac0ab1f3d488722d6b..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 1673
zcmZt`OK%%RcxHFKFTb6(QY2FCv6dP;36&60g@_ta71AV1QYx*4M(dr4y=EWI>^R_R
zeQLSEKj4rYIq@s_103hT1qq2O7Z3-^H*4br#H{w4Z@%|yCaBk41nZ|CzNf#N2>q-M
zx0eBj58=-#0E&D>G1X%1Yq0CFo*2G?70rk%iRqh(<y+;s65EO6J0)($Zc_EDC2qyF
zr0&;~hTp*GDWW!Y-XQ8Q^R@0bsdkFG?yC!TZz@I^-}MfnaKzG~_mZXVejwPcx3jgg
zv$?&qxwYeMKiYk?z5DL_?mo*y9!*4)rMsT%KFKCC9t}srdk}U@1#d9(jz2yK1`oZx
zIQC8yGxttd&iEyxJ<t6Wl0%1GEUQNYMGTa!t|r@igIw?+6vv#=C=?l&?h;i3Apa>F
zMPba&W)lWS=Ohd0Qyxr4pj<f>5VCa7cra#4cNQu)x7Vt=_kqfgkD<aE)0x346o0Ez
zjp}a<-=qfAr6TXXNW&}@Jd0ySR}pn}S<P;umJWv)hAIYWaweuc4WY5C)d5Vk{0aQ|
z9{>b;jpk;7$9Nxo_RHKVtg$BavGKXi_W`dI`X%DO6}rOL(bybYg+b9*+Bz!Cv0Ye?
z(M7G$t{mXI*LZFh5c)crJFtVy+y#1dT$@+Ry*{s%dt+V~P4L?gt*bWG3#V|eb@2aS
z-Ygnp>#8Hxie^zOszsd|-x${zBZU|49rPZWS1-N>k9P`tTmg@*qD2uz`(t4jt)Z40
zg+0XccG0-HTeOw8YYnu)>aBQ9RnS9OdH(E>oJno}jAJN8*N|99OeM~xo)g-=$5n@<
zeYxmzE-RM;I?XGJ>K?r~BS#;Ry`yJRi>P#AQkIRDX0CdlON+C78jD;uhD?w+NEsQ-
z2nbsx4oE$ma?VmgN)6ry%e<w4Y81DXBQ2dsGvGlwWUx;rET!C1jJh(KvM(2w<=QzI
z0*c5;7;tbO1!=b<jhw~jT=kq+l~y|ra*;EZl2uwQG2+>DI3glSSS}d&gGoD&hSHrZ
zCLhLKT1$CpsNj8P$s$5(RQxA$zq8`5s=}Mfy>k<AMcK)}L;N8y{`{mr$`aQ9BABJD
zA7+&G52EBWO33ka5JzDj%6onuh0lXD7&6{p+Ru1DkCI8u$coUL%%rtEt%2oy3joqh
z&BZnB;`>?++y8u;i96WDjkku@0Pa0(VDqh^H}I>C|GjO!rQO4>C2c~|AYp_^myjf*
zQwV~{8X*_cAYO2|2A;XPf8`|cp2AeNx4@=4IsjD1b0uqQ2G;&6Y2B8z2%%XBmMiHr
zfv0T)BxEPdk|axew{CvvOTKechG6-4-BgC_pu3pqjenQ3x3srx@nXW8QxU~^Z}p&*
tiOAN1dNb|iFqWfQhI}ivGE<eGv>z`D^nto(c>{o9+feWpu0cCm`ron6)e!&y

diff --git a/utils/__pycache__/__init__.cpython-39.pyc b/utils/__pycache__/__init__.cpython-39.pyc
deleted file mode 100644
index a564fcd161807cf6895e78007b301a960e1030d3..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 370
zcmYk2!AiqG5Qej9O+ujWuty8FNkdTxA{Kj+BBebDy)4`8*sN@_OEyvB)6}CUpTdie
zum>-md<9Q#a`GSM8-{-vhM}WT=vaMyyt7YRzq{tYeA`^x)N>2w>>P%eE6@)0)!n(^
zJ`RpUK$a&xJ@8*q7sz4m))^08RJdsBTvjPw@hpe(fbXFUm$ZfyCvlQY;)_Xqj%RT?
zPttf6E<tA%S2dSqio+YJ+KM0Y8lPt4eje{zyuMx0{TW^efj6D0@dh+hPr#-){IRz>
zcjLhLgfN*AVqB@sK)2cq6|HmQQKg_{#%H`LX#pmvfQsG<2zlTF2zhg=?lnDr<0zK}
zM9;J>A<86!XvK>yFUY#t3!X(y&4rE#;U%vLnX1+VmxW}FfGcE|XwPEk1t@U;06yhs
AmH+?%

diff --git a/utils/__pycache__/cubic_spline.cpython-39.pyc b/utils/__pycache__/cubic_spline.cpython-39.pyc
deleted file mode 100644
index 8d43319cceaf5874ccf18a40f53bc0494bb985a2..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 10278
zcmd5?%X1t@8K2kA&aPInVkxq02Qv;KXcHmFa(Ee&$cd=%6c8r_lsLn9dv-PQ?(Di}
z*48eglX)I;;KZYHu((h@!5=_z<Hmslr>TMqRZu=tR8df1eqZ-Ic2_HtM**3w>FL*W
z_w@Jsp1tnuY*oSahhP7kwI5fMKT=`z(oxvJ9d06F3RBz4wtTAFD#}`0>*(9MD(j5x
z(hCaHnei=!8Mn1<6QvR}Q8G~~Gxds6FW<vR%2r)XN-y<$ZLdMa(aS(#19#X&;wd!E
zw#L+L-7|JebTf_VZ(<Tw`j)Y6dS$Q7%r`YwW){j;Uaqhz%9Xr4!)hp3^YSd4LwSa2
zSk$q^ywYp?fj9ig%b{lnZq(;)+YUvY9d+$SHwYu%Z$x&q<JpZqzv<bx{AkB^?UsMj
z3+%QZMkw^Ueh`IKTV7W@&)({HJnlCz+U3A)4?;g&wLgIuKh6Be?*^;(<#wyfF;vIC
zu=ez-y_L@WeE*u?u;r@O#DH6MJu&wjnkg{{>63d{YS17$WtW9a1^4r~!_TRT605P|
zAl+5>^+>y;$LfK)Zy;yHI&vkZ#s)T3`L=daK@Jq8+zDk-iN$7rTf3y7cPTC%sFAi?
z61|N#v=gWmB@ly3`z9;JCNnRA>UfsLTc(%;#K8z<F}s${bucpTfi}{fu0XVBd2N~2
zQzqie_3T=ADzO=t4>WvTHKueXA4A!#9;nQUjYUPY*G5`qXk0PhY;45nnXL!=K&5oX
zMeM+V#;nuIvVyVam;#_ww(e=z)_d4h<=%Z<z_EIrQ?agz2dC{vo+xndU+8g<Xj4DN
z3D=1c`a>_#f?i@Uzu8QTZs3KKcUwtm=<#ltn9RTFGcPfLN4JgYu-m@rC2Av4-9%-H
z)#<k*zt<il>b1Is5xsU(49-h5gBm32&UU5a`hg>cRWI{XXt=BJ_v7*Rr_b$lJKnil
z?jZ2aHM-0@_XWRm#qT&@?q6&BjdT6TZ-?g^gg!^&f2}u2EXVN!KXRNoj1jINQB)JZ
zs#aAWQy*6?{Hp4ss(pV>pGW;EbxzgpYw8pChsRP3XCu_Lq}1z%&K@^0N`tmDyJ(B(
zBLs3IWFqAb_I_6dVj%*Sm3^Qj(uvl)>Mk(5tlS13ZfpA*VI2K{TlCVAFHs&(Q#^H|
zCQ4;lV#Wf{Bx<a*rX*`XW7B;B^n5|E^&U9C%NZyUd8>9GvO#_g$pp98<J~>KgC=`0
z(yyAazkQjv!i#x{WP<o`d!^a#x>5b2Jvw~x+KYmxC*BmVTpXR09Wm>RUdQFv$LD=z
z2Qq5U_CvedkL+$!h%xR4Eqv82&kjNKw)i|r^2yKhqt&s`cn*V*Anb9k;fD}oG;+|5
z>=wq1Ja#tkE!csVK}*3Me@2F`jWlCz)GLX3%@4gsBsoOyxO<7-@dG}Ke*6R_gkQcy
z$ug3=20u;tN0B5YKVaToqOm;zZ<*NCaso29(Qkt~PC+Rwm0k<yktnmr)n(vxNu38$
z=kE{Cq)0vD#iOCRi^1M4R2hjP0al1P0apmo6tGm2K~@0t`L_*FHaN%jY&Wv^3Y`77
z;W=&2_cA#72S7*u7?QfhKS+5JNE~*N!aqcbK;$?WImyCF=q(lqVo?4!-3Y?uBj^~C
za>#HuJbegnMen1*_BD*~PQfNXCM4q`>F5c-321%(?L+JJbpqGx>;G$b9Wn2F9%8BN
zTi&RbkA_(;?xrH_bb&C4&Thb*0y-}o0@|a8fOhDmF}#t*lI!7*zb(9tA`Eycx$gu|
z7X+Rz{Lk?;ectypo<0of)Xk$|L<+O67YdWtQ86j6P8Dd1c6>exrmv%WNQRn}TEnx4
zpfveLy++nz;C4L6Nve+1>9T&C@-@e~(RbTvOWAQ)x8XRPEXt%DFqd<8z|T^tB#a&Y
zB=UTfk~K=sQ9?HCNMciw;7aCpSVLl|hOx9bzc7D%{<vsqpmOY@t{b>R6QXXqg9&$%
zyjZxG(tm~TO75is_p;(uaaWqKE?EWrs%(bbNU9U%8k<GAmY3()F_dTX@;rM8<vA*k
zjC33h?E+gw%Q4ZCw^FHTV6KPXEU_ha0zKv@-d)DKC)p{qJaojnr}6G1?0x8QT=rn}
z&KdT8)GRO?e0nyqBw^P#hu^$xuiMP;cmY{<a9m}J^mj)s*3fo?aU&Ep+_TTK%yZ7n
zz($vIFYG~1`9Vwg(|vd`LM>vZFmi*2C;Gy15;~Wp&zMt75TuspiEwQsP=VwYkV{KB
zO}Mnm9WB<$x!W(HRyewF-3;V~^9qG$FqLV-fi$TUtGCH<EJw1WiIOE8=8AAB;T&Rn
z^x;1#F5pTxALg_4^X*rqJN~MFb=8(0IkH#B0|u_Wp6^Gr<3`z@2zS5@Lob9W&Aa{9
zjxec3AR(V&?LpR>oZMasdTS~Bz@^CEA0yQ0oasW3cx}{?$>SKdu;RDsGlE(9F>HTQ
z+8Ok^QBoC7D}oW%;iAHMZS*@~zatng(LxyJ;h>->1eLJda}x6>Xef;haEFs@O`@QS
zJ3Nj=v8r$|Yg$cRgvmaqnd<PN46$pOYuNxp=NIMa7KkDEfZlN7@2ZGBi6z}t<!TC%
zVxw15ZF!L+xAr#5p>R;u;X*!J(f(HE<IiFc%t(ml8<b3&PlD$=Xr4ZwY|mWhaJuWP
z<8|@1HZt_JDTk1|tYzE+RO?N`v^xB&^l_Wq3%qE=fwfo2O+}pQsro9aJH0+UTt5o!
zhRY)_^xa^j^8*no#wpz0b~kAGQJ>uD_Q((g#;1C|B24(IPzkHHcwD_Wbtzcjq?{?f
zBxeC=!%t#=q;|Q4Ts`$CY3ov_lGZ(#B-AWvNe4|LaQA)mmWr`b11^V4IX=d^joDRY
zyps#D*HD-s5{WM%(onCb1S7XlPwPvO5yN^XcaS1mh<-ruF?E5Wc1TYk9=o8NMjS3S
zh0ywSM!YO&NwGzUv54Xj;wwf-T~J}VUl_hyI;If}3ZBY!thm<@+ahq?blZKeP79kt
zFcCdyVYhJo?b&)slCQ7}h=z%dv0zRM@gfK*B#X`v7x<KDXKcVJ);&qpIYF*`Q9nc%
zVMi!LR`FX=hbP8~oA(~0E_sJJ3;qIy2T(UvPWwb%Bc(L?V@678p^nl>En-%&37VHE
zEP&`1B35x(lm!O%Nl~E%?dXLlEX6_zBT#vwJQG*q8Tfl@Y@xPFW5hF5BWfjLYH>{<
z=C`AWDO?JQ808=Rf5y)PRy7SgkAV;=c#Mt1;1NcpkOH$4;Nj#)Z5u3u5dTb89!!f$
zZEM%rB(_eDV{61m`x(Xx$u=)wMp9&6mA}W-Vd}H3Z>}9V$Qb%azvQxof)W$x%N0PR
zQ`{d0lLqt|LJ|COl<EWb7VNrK8zMijAEX=Jy}+>TVvMPxKNT5cOX4oV+CgEPjL}rc
z0s|r0ouuT#tXxOyxJ*dJ0fwBUmL)bC4Zp(f$w*Bq14c}ZtPivZi5VHnW>Oy$^Jf<Y
zdUA4Xq7W;0a0GLpzNYQ##P&JU%Oe>atq{|Kz0Fu2&7?J8=rSF1NS*DTg-IjTHp%p(
z$wL~9y#@7M5a69keGrjM+3XS%kEja7U+E~V2%{G>P9^zU*7hWmGKQC5o38^z|1`Fo
zZ&C7jB#9pSL83RhAtHMP9==3P8i$q22Z_N!`b6DJ)I*y8VY$yv)OB(b==|ny@ODTl
zMVXm{ZF(HPEQAcMo%#wE_6hVCVQj3)VTlfBTcU>;IJ;($A(NFL7Sch8L=Q17@KXXt
zQvBd4Oa=`o*|#KXlc1Maf`}(ysDgSZkD@+37AupoK${sO-Niu~R0os@)J3%k!EjgG
zl80Fqe+5gByZKqlk;~3Mh9oJwyg_W17)|*3iPrPsB!~^pzmrqIl2aUkzf8$j>Aezn
zXt&GUxsKqxi$kuS=P~|8>M&s+Puu+U&EKP^)YA}}ONiq?0=MA7+rPdErlsgVCw@H4
zvb5=C++x#jB2#QSohX4}aaxM)H};{avF&trYQj}Cz_g^JOQf3x2~03EbgkHS%0pYD
zjmTi)F30$RG#2&28KW9k#MbNBc43&i3u8>4LvDnLB=YxG#eveG;PX(}>4(HZ!E@8O
ze6L{GQNJ-~C}M8nu|d&q)KM&k|4%G!uVx0kFiFSE^+T(+SKx!NdcF#rb{=cuyvGSV
zgc-uf;o$_I^REzPzl<cY8r>dF+gkxnNN?~cgJnT~0nitz{}oDJqJ)e_p&+(r8aRs$
z9mK){CfM~5EOWAuSdeQ!zxgK&AP<+SH2|`z(ZT2=>KSbWnp0ndWXQQgvcWfKEhGdQ
zlahhT0;JcFDL^_R8Ax{!MDdi80Xjvh{qiyZCyhZe7njLhs7$tw%K^TPX|O&Ik4Ygw
z`<-p=wDlKK;B|W2p`?%plbk+fXVy3Wfp?^s#mVxLc4l16PJLx8azsHvVr$aQ;g68C
zU<&^faij0SLuLr$iKl*2!A=ot>zm5e-o6>B*gtZ&OdJ!N2l{>)HTrjzrYin<V#Vc6
zxL*(fR)nKy95>@h279cv5Q|#IUtU=G4U)Yo<ZA`}s$l!-No60VcWeq193#s)Z#){$
zz!0<C-+}Q7;UW^$Xm=4Dil!)eoVRkX>A`PrcnJ6eIK=hWJozt?R1dqng)>y=o8i8_
zvPXRMRNelt;NiVGPHLXCR|aFX1Jve>hB0pKV0b%y6Tz*tGllmA=T3<P;A|NhSxhxL
z(o6J*84*N4yicAKH+i>%I+r7+hJ$o`v3PQi_3=R?onbg!>vQG>|1rw&-<4pg9eP-1
zQOF_te}H|6EcrIn^?Ss$LY=mL@?*O0J}dt&Lec24I1<I1i0v0}hjiH30*_xkzOP0=
zs<aw!t3S|gKtl_egrJZ?K|di1QP9?&l19b`-j!0zMlPvdqF%JQ&ny9Ee?grxT+JQZ
z3BkH{sojOG8$N?f_L{T?)WmT2d~&u0bBpl3>5Bgnz~&Y~{6(722)ewJpoM@~uSu&Q
z7r)zc`F{uGKbefS*Nk8n_^q8NspO5@6(Ak>U`~kIG-?rUmndo+!fx|%r;)=A%*t&_
zNG_J}jUg>WnYCabSP&b_>KWK+mbR!3myi1Ht@<K=ipDrk$vPz$C=n*l)08_)$z@8O
zqlAuiInhk2B4HnWj*7zg6o!*aMIk+#l%v&+XcHj>ZL0eylIys`$C2P1Ltk99bW2~J
zo1dRQF+ZoNwfnV)O#D-!RynnV=f7%I@lJMHEi7F#8uSok7fVV?LBG=*$i<WV6WyoH
XomiLTIn6WJHYsjNbJaA<n7j6G(wfno

diff --git a/utils/__pycache__/data_copy.cpython-39.pyc b/utils/__pycache__/data_copy.cpython-39.pyc
deleted file mode 100644
index e9e2f284c841d76f514adada9523b52ccb69baf1..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 505
zcmYjOK}#Gl7)>&>b~;w*p_CqT?1=8@Zc!LYsjN~fi@WR!g}n^3NpPc?O*+Z6jI0;!
zwf~_#_S9eDpUA<BC;x&clZ6&Pc#rQTe93!Bv9=ZiSGPBRse%C9dGWN66CWM)8%GpO
z0EH9@IDs^v;SVrD6pcaBy7(IJ)n+EE4EH&ivH2<f!shXQVOWMcTb=Ia*1OG47jN%m
zo!zXv8}BnsDy|Hd^9;vvPpYQkr!#}!l4Lo6rwtw+^^55S-V*|k{HDeurdjok(Ke3n
zogr{coaz7N&8|4~9CX`}0l%ODXK3NNvw*^%=r_ECCR~7P&+r<aBfWkEuHXW?80a{G
zHd2)|l1P!X?26*#Trk@bvY^_wXk998Umkw`ba*g6$%muC$)Gpr+t4(MCCG-fFvVom
zb55k<jQ#=Db7$mXJDtgrrQeHY&Qc;NOZ&VW^D-aSQ^84E8!mMEZ?I{r#zvGe<xXi{
y_&7cnK(FB|SgpD)3GA~xr;_A(6*#?ITwe8r{MXv(eJN=z*a!boI&>69QSb<_-hHkB

diff --git a/utils/__pycache__/load_config.cpython-39.pyc b/utils/__pycache__/load_config.cpython-39.pyc
deleted file mode 100644
index 51e111c55c827567d76829ef5ec3100e969cd6bc..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 645
zcmZ`%&59H;5U!*%%{V$T58xq3`{1;q2N^{C0Z+@a><Z#shPIQQiKLSuonDz`_N3QE
z@azlhX&++oC35iM$ye}Xr5mJCtR^3o>Z-54N>WUx6F~d^?Mi$h06*epXbEnf;cD(6
z2oOZW5+spS(63Y^f_-AkM3586Mn5qF4l^2Nr8SjWuPUYGYFqeCNS*YpGbMKTW084`
z>m{z{1%ih?@(X0WNIvs(;>mlukBD6^=sA4@V#I*K$Ao~HJ%HxXeIVWU7I9BeLwa_7
zU<=W3zmdFG(YnGbYj_mHD`)HO-&&nY!=twOgrjxv+^w5M=f%+9L-4zeciDm;VG;NC
zKP?7y$KA{WMxjc-;IIFY7UL+faJ#-b5O+3eeRc0~M#5N{(h6nP=%;Zw=?*g%nB7Vf
z*siE`U>d{A$*WfDJ|RmS#RCnb3TZ#aCAeD{`Smd0*jnZvik*=;^2+=`)hDW69kuVY
zD)ZJW-Q<yP)fdjUyKr-`XYsaD1h_FHbLwuRmoXPFG9-9FfyHUMaMy7F)0i`UQd`k#
N`7}O-CaN4KzX1ZCsHXq`

diff --git a/utils/__pycache__/obstacles.cpython-39.pyc b/utils/__pycache__/obstacles.cpython-39.pyc
deleted file mode 100644
index dc1bac55e846213bd8ae602274082b8b068b0c8e..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 8595
zcmdT}&5s;OR?o=K`tEAG+xF}jwsy1{riP`xW0tSk(J-F22V3lxExUJMlSR4d%<Oiy
zvodQUv+b^;N<y;5%mPM$#H|n82PFD{5C{GQ4jfk6!yZ;C;DQje5GPJM?2P%nh{~+&
zFAH-cOYtf`^F_S(;(evtZZ{M>|NQrV<L5u4DE~r@>Z7Ca9!mNn0AKN0qzswO7}eEC
z9cs2F>RO}^4cna8ExU$sJ*p2Ic0=?TQFGX`Tf?^97Hu=?443RBQMaP*uxodj@*9d@
z^XpF)zaFqBn!Sv6!*8P943^P8hjz<vqumzm^JsVcCA60U4dW|lcl~9wm&N*3w9onH
z(LNunV*CQyEB-3ltD=3;*X}9(3x_zF(r3AL?frH9S-0ZsM!Yi|puXz4JPXp$jh!rU
zHhB;S+12ZPH8<{MZWiQ?4eo9SUY77Ntz1tM?r(fR3)5iaa!hgD-7s~s2SLJvp+}gi
z4@2WUl(Y*FC^qvITlJZ(`6_m%0nGz<6inV|^zdvv2zvM3H0XJeo2I?Zg!kMi>ZLR#
zT@zCVeLb%^PV5c?$H^OxGfe!Qi0UoJ`Dn+D<|CHl_=)E@2MX^1vjCsIb>%@a46ZzO
z$8m7QOZ?!<H^Sk)aOm9GxgUkzm7Oe%(ksdRG;_TO7)N7X$Kn?4pTwlbbWQY}IHrkF
zdeXlFIC9L3flfbP^YuObV`Y>1hHpM?+eTob*V<!3AoM59w#pt73F@hpJtP#=Qx6*3
zO)7q8PxY7l?o-`viMAp}+WzvME<{4NJHgU+SM(D874)zA7chVMV?|f&b0GhvynYwF
zb>poln7k$Edu>j89*lU925}a~TRpeOi)oS>k{ACbjtoFdF{2>f${ys#<Iu;SHg+H9
zCJ(Y59(zQ);-R{VqM@WcfJ}L!e4p(rOqsH&;;2&<P@8Iiy06?*4%nb?<VLzP3OKPo
zjKd7<wwyUa(~%f;2Pm--Jq@BwehzQu=LxI;9I(9ZI6|r%M+(Feja>qulGXqe)?g-n
zlXE3e)(Uh7jIUybN8(&ORHw3zl9B*Sm2K>oUqH3b_$&Csvdj2eh#(heX>&h|k`f^l
zb<$lRl!tm5JYT>oc#l9S=n@N^{xy^W%hCdipxDbGd6nMZBXA4}QTKI}0!e#;gxI0x
zrUxMkxFnxAFJ{w20$|Pm(?3TggBXB>VE?wZMNn-LNsrW<iX5SSs&DE0%xAAEGnH1O
z=om5fsb<O=&04e;Gq6_OXWxU+p^u4+sruT}+El%+JYoCnB3Rki2ZyxfBb1^J1BJ+&
z60f(g%irzH*eA;O@wR>TXX-~f#DE9|J*oLg1~RB?U(JnC62{p9?ln)KT*D-m)Fhe6
z8}CG6nt91^^zK_|{}+lfd2>O{tsrwA1<=*IP)zSciRVV?yQmb4`c|&Squg*gcgG9y
z&owVe#U04CG>rS26v!_TN>l77m75?Y3c1N!Ra9@HTbxp19oC}qnXajy>H1}M;kl_!
zE}XtY+`}f_Lq~EyUrJygxWfxIlDA|>RXD0zf`~_Laku^umFb+gGkvOp%-TMi85x7H
z=sxq+XX<y<nK`r2qg8rpv$~jLlye%hrkJznY0cVGbJ}{Sq|<3_+IXnr-<q~XyFP6`
z)cNm|5zX|eJ~f_@(b6Zm_aN{d_QK6x_BdJS#<U0a20X<f)7~3l-1CwM`~jc)4WV4g
z#$DrE>Dy(CdXAB%_eM$5{@Xn_7Q+i9i#OdB%JtaG?k7p~c5j341Shsv+1*!qA3%Hp
ziTZJv2IYo0X*7tfPFDSczQNbf=6!%%8@jsyVa!Qe_B&FNuF&{b36R*@ZNc?IQ0<O9
zT-k1j;avx>vSoc-siQxP7yYO=<$Aeb-jFL6Ba3Mm!S0S~sJs=%PRWR0#2!=9m`bz3
z8rnG~erlJQ&s8d_u2n_4x|B>y44;9EyQ2oXxf+Z;(gejrWFb2sOxqn)gwR6E%#4qf
zkJ%>t9$$rqF-XJAOt=K<Q)Oz3mNm7Y{VZR9McHRe$y5lkMXth>`PMTXUStiTSD*Z_
z<kX!gftcZ1Eo7rG&gGnw!bT^6d|(yTdRfvN;XUFt!p-U>u{7=^ne+s^a{BHsc;x$q
zF<ic00?EfK;3)+hygjyJELV*GS1ZoetzQNOg>Jn(W1xcait-7JHEIksb_sf2YT5%;
z2<;(BuGG3Jr?s{z#SY`YLPNh=j7#(Qb7+2>y50boyk1_qH6qA8=&sYW?1|ly1-plm
zehonE_A4`3lx-@i-1S9e1-7m1!R{}ir`SFJH7tZ$rWfV)Ns<ijLAAs2_PP6bUD(dP
zJWsCi;L$PZ=5z`hMR+i#rhX2A{#?-GKs)>o3>?x0JtVO_&=3EW>Li(mg!NFkM)1LL
zJrbVln_(2eD7Xj$GPrc&>gT3A8U?WrJ2u+NTeK->ltkk#D7Bi@0Kbe^iA%8{b6zWM
zeBR_i1Y7qg_z*Y7qV=fAQ+%Bk3gcHRXg)xfG&hX~TVXiRXQtkPQ>N1Iv#M)WEP<=F
zj8*;foZ>v*BtRZJZv*7UW|X*@aP;!ph$nC&vx<2XmQkuVEB2-BB#oErq)7QM(R;p0
zKpgTejkM>Eq!&a{;Y<pZgWysghf}O0+=Ct}2paS+m@4aPMOmrqIF0#v>(vHRpNrWZ
zCLVc+Vf3UM0M&p3t~~sdJym!tx^Fyf%|i)u51PWSi7>$mYTGhYpx~qB*Y^w&XX<ua
zIR72!l2&f6ha7RvL|)%BJbzEjDKradgaLVV-1Wnq^rTlu-Vqg{14+J)yZ7YMOBY$=
z7cnkbV>$AL5Ov`&i;F1;Do9I0A|`I5B0@28)+bBy0Hv4Czlh-@SCn)D72!t^P2m)l
z8(^Gn4(|~VXco8#e~ePPwR24KT^dpz$P!e9Uh}d|uV5U86fy{OuLbt^P?;L=U0?=Y
zA*cevTiMr3-$jKdVr{CKwk_P)6@{WkC=uhC0Rv!yY1ZTirE<Sh8i1obDkuCu(EdVG
z@wY)5{_6yYQv4>spl{|is2q`S5LYm73gsiuD%2%^hh`J2UZ9Hj?_fMvJ(z26e4Nd6
zp*c!QoL3r`Ayl}M^!sTkT&12_I!(cFQvO0TIo(vTn~KID$BBQ70LcLt_<oCO3wc|p
zjo-#VfFgE7YGXwwmC<1Ob53I(%8`d8`#qGDOjuP(_^OSJgKhY_ZTg07`6kj;mR*-l
zL~h-_pKgqicKN!Hm1}V?KsqQuHV3{c+=)u)Pi8*DR5JNRVnphT3hQ12`a_KX`Rs>2
zz@Xnaja+u;&b7P0dE>hC;f<TO*1vJXUS7XFxVLflTk9LQZVw#$_TYxyxO3zB4fNf*
zHn6StZ>@iu=4tEK?%Kxfjhi>_R%o}lu-^sFrzi#OG@TVcPGcu%M~NMJ(mjA9v|EA7
zr0k4U=54G>-li7R1M^7Urhy(y^b~oUCVC9fQ{-)0=#kkTO6O4~r#)Xo={%9E3A$nh
zrSoWfk)>J9Yv7kiNlkuUGVIhOO?-?&xiUDg@@By`C-jj;p;TJlF8heJdE49JWb+*$
zLCVjH+&G}wdf;ybQpJ<>77x`+6@L|t<0`(I!9modIL6cfG@;!T$66SG+QI<XEvMWQ
zFq@9tXlKzYcG_`{Znfsj_iA??cN6|ghy(Zz?fbxzmShVX<PQjh1jvB!hXf)5r<j<(
zK)=)nRzszHko--S3nu*E%?(+U)67k-)9L<_5EEgM5o(vnXyj!~T5<*saq@!-iVG!*
zBQ$*(T*I?)5xxJqf~!;F5`29b9HX;v5EK8lf}>mFn9GDGXo(s0kVi<aAsLwT4*;fY
z8(AYH6GYAl(H8vmZGB&zY3MU3!2q+Y&kVFok!~<ivqa6xYGk+})G*hy?uq#weTHPi
zjM58rq!H@V#<VHkIDfCGHw2XZEuTHB!=S5!em!R?k~5B<Gjg-(e>Z32dD7-l5apWd
zdHpu-X|jXtf|HJ-Fb?vi%`o<zIDo&NW)4rKY(K`?_$~mZyO9THJq<~%=QYu!v}{Mz
z!1YHi(z5|4rOhdjmEQ1}Y7>BdOI)E`CxY_dLr<>q6a}`Fk8_>N9PdL!2rf@)RYqWk
zz#{?+BPYE4S9eA}eK3$;84#2so<urV+~L2&{FLm7!b}x;*yp;|A#1F*VEtOuQ~dsW
z^5v4#FL<Fx_NaKMUb=yFT%Qr`C;wRbO6!!-K>|mnbdur|fK1`|!P+A2a?-29?6+jd
zyBYE{JEn%oWu^zSuF6?R5GAo+nO5%N)Raz{%#jhd{5DZ+>_jGK5sME5{qc=O^P<$&
zX_o?CJ<gY<GCksm#MVE6KvEI4CYNr{NwIcp62dO>Rn7>zv^3-5ONlVPQn)T*x^$Ar
z<&x4W6thsrbSLwsNYM|2>_Ou54{6pX1kUuB$kX^!l=MvicuWoDQ{lZyACBptcDqH;
zRs45WRK{uD*&e~yFnYuzAWz^09)Sp{=rY&x4t+HXy@F^j{-{FcHuNfTKw=`OI^dhM
z!{b)BhE5V?k-?Hy7vD_OLK*FgkCR1sr7o;1{|JjtvvvPOFB1`q)xkZRTs*q{($W>o
zKGmn=-=nwJ34E7;&?JJ{XY%cjFz?4GDMg5<@r~1r6C9!dpPuw4z!45LDjceb5Lw@=
zRlGI?!vQ>Cgvj*ymHexw;93h@YvxPW$M|emVcXRgxLG}4PCmxBfxHeiewM?LFK_OU
zx^=Shi>mZNR&f}QSX(?)FIl~Y#tBwi#OkT(D?5z8HZ@~CQ=cHTb+m<ZrB~Qb9L~=<
zC-4_x(^*^Q&#>@JN9jK?C_kLlNO+Jry>yI@rTn~fVE!kBxJTfq4G}x~DIuOaN?$sT
z^5h}aIcwUd1tg~mFVU+K(+Mh^Da(J1$^T9}x(py>nJGW1Y9W>BKj|((>(ESmbJg7Y
z9;fZY!A97{=|<=0ec18QcxxwID{FbZtjY-3z;t|*?qh-dI>ZPbulG$icHyN%Jr9S-
z-Abbh`+@`<eR&YZJ#SQGPFznR5mp)w-^b^68Jm*C$y-e6D-m$Y`%KDG+(&VM3PS{I
nWd80Q`5FFQGO~gYEqp9$u^P;Gmugzq>fY^svD@n2>~{YLQdex{

diff --git a/utils/__pycache__/roadgraph.cpython-39.pyc b/utils/__pycache__/roadgraph.cpython-39.pyc
deleted file mode 100644
index 21dd7ee3a082a64f3c8a14ce36b35edc821b4606..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 7600
zcmbtZ&2t>bb)W8;{hIy20w4&Gl&F>Ls&FF;6q!VF7>Wi>$g)%@m_^cdY87TQ*zN@e
zoc&<WEG4WLsU&1od~ua?$RUyBA`U*_5?_-)z?G}db8uBEC!KxMA<FN)*-rp;xhjL2
zM)&JC{qg#}U;nz-FPB{l&+mToYxRSRmi0eWn0+!RY*?0vTwz(tYFJ7r8H%=SNI`i!
zwA)U@;k*-O8d=CPVXmET<lBWtf#uoIZ5JEGcBxU~axN^lD~$^0^Wj3f+Nh4cUu-Pu
z#TQF@`A9U*sX}8#7eBC+tBTJpReUC&iN<-BlvEj#GD}ujQc(+#Ea>Vp8(M2DtExrF
z7WEp-F6g3KQp-OVXz`p{LCwmj<|1pKSF4b%a+{Y}vZgLTa)BkU=w)^BvHXQFS>-&i
z>X!yR_f9|F>zbRjt)RK5JG-@?=#IPT$NFaN#@jb;ymkHhTW^1-cKzL(fA-GJ>+iUm
zI%=Ar7YE(W&6<0++dDA9?p|EG(yX(7ZRenN@1re$=W6Xv7}oAnWmLPbBW<2)wO(_-
zqIIc@r091#-PoswA{6rvdSTGfH#WEHGI2J8W}Mg$bc{kl`LW*&{U}N@tw4v0K32Nr
z_rq904@LXV_wMfg+rQHDpWkg#2eXfj!UipV2N`WO1ROyA2+Q8EmDG;1Z&^B{VUVAT
zMowiQ$<9dfEXmDC3M|RbNL*FGSMDupv#5&5mnaVdmy`TQ{Z5l+xt-WiY!Vr$W05S3
zCg8RFX52LggM6gpk5T_9sRW&7w;gnLJ*{?ilvKL?c(*$(m&Xlm`5hg7y+9wv{a&a)
z4m$CpM~UmVS|6A|eYhD7mck$!*S5m0PxYB-&+qAaDam_Y$8T%TOI*)ucU3>6e97~k
z^!+fcF(sHRS@67>#qvCpBdLv!%>r_!O35N6%aoi$a%>sIVVZn>{n}o)t*?FRA9VD!
zW>@KJTS5Cl(Dv^2cfz1~tse(rbj@^qwQKy|-a34W!g&pEL<4YTNi2>2xaQ?c{9CA>
zy~N6CWX6k&d{*VKOtgqOomT}ceL=a96nPO{b_`xbEGRiinKV@zpQK$<RY({4`!auD
zQA?04&$PIp&Ox%mEmqZe<X1Vr$oVyBE~yLZ;&ThJzN{{(SDstI3#nfHLa58?wdYP_
zg`KFDIPb$1woMVU<0UbGF{}U<JjsV}1FzF>BRXh>6PE>_1}fe&WvC7Eh@;fCGE@~M
z<(BETz5S72CdIfrDV(ybL<@H*c=E`^RxF;ut&atw)R4qnpk%VtY3>qaN&Z&ow|A6(
z`%RR7kJlQMX%_2a`Cyr%mj-sVHg<k^e@A~7v*&w3r`1gyQc4Qlorpj{M`j5vv7Zf!
z?A)na!)@VSJ%mXdd7sUd4w_`F@k3xhFVE>RGD;kZp|x*qT8}D+awvv!U%YD_iYM-n
zW-7PY)|l?=P);&z*SeiJkq%pl)So5}8Fj`4JbRa7*JI@y_>Qe-Nk_P%BnAs?hpEQg
z0BNujqf;2f7KX=WH{V9_81T5~M|<oC$HJ^bcCvRwHmP{tU!pRi)+{ly{<sDhlr=i;
zo6f1;C+4Z(JH^KN+*0yO8+c}K5ArnnD}j3NYf(r46rkqMDVcgf>Hq)=-7}td3za7a
zk=E4Dn-%)<JSD4?aBCF!hStW^C?T{-{fw5tyg|vgDESjgu252^gu&-eDMv1s<a?&u
z(<VMJ*Gcvll-#6bI!?~fV9hH?sNskb!W;Tq;#7+4Hx--k2Qn#zo6Xy---PPiLx$U+
zSovFI{s<Jx0flJ00SW<;(yga}yxYi+HxXS>WmRE>aMgmU0wIdZ#X>A5r8|fTgY9Dr
z{x`Vn*6@r)HS)<CZ<^~|aRNHbYZ#$<3(4*e{(Erl-~a2)jiea$v{qgiw1XIhe!J_1
z-~;jAwxNk7<z}~UBJD-IQJ?Y}37xw%d0IjWsC}Wt1q(x!+h2Wy2O;!bYDYw8x=T52
zchu(=G*h3EgNx%?(L~qh)aFJ(BOs!O(TeD=k%@T>KeP7bK6d&Gma?(O+lS(xtQP2<
z%0ABz#U{Y_XO`!%EH@|1uq;0(%PN{tAq54qflj`n_$Cel2tIQ-a7z)9OYg!gkE)00
zZr^$#hT=&4vwQ*;#tu2QPPyraO|RFD0^$q^cDep`BBNl&W+}kjBJ=}M=-s}Lw%Jx$
zF}ONst6d%63%l|Ap>6|qyJ$MPjm-GNQ^Tc5<KfoE!(E#Wm+YvlOV*K0hkY!*B8wl}
z>9Vf0jPB^z!)DU-O{}B9?_A$xA2Z*F-iZmA4<Y*z-qFZkK9)D2#HPDAKb9hh{B$(t
zBkF_P=B2%nON@G}=MvfJVebq&QO|E`o`Sgpg{0Wjomd;hK}TaR)vegu>GnG+DKgPb
z3s^12UHT%$6GlK@nc|Gq?@^b;hb*xM?3dr<?P)q#d)Z>uODAwK$$6gYHi4*&jTE@%
zJxXp<LSbe8ijwb9@_>@FK#qWzMjX)|>PpAXGr)~t%{Elu#5?y;>~D|@?;vv$)EZ#V
zI-?v=nJnm02E+*Q0txuC0<8j(p<|B&a+Q|o$m2BJlt=-}QYjsA98fBW*jh^5?XGG2
zA;VgY(JK|Cphn!KMtkR|ilI1J0O<|F0LK=^<RN7~7wH_4GK`cVr(^>x8#I}T2H|9s
zg5x`w-<%gZ5YWr0MxK@K#4n^m=n|ehOR0msFR(u%pq0I9eQteegGN~U_Pzs3aqiF_
z+C%wRnj1qYEdlg+a)U7B*x62mmm-Kj+s7I6D*o{X2#OAjjm?iq@H&#Z!|pbsc0ot!
z&l)9mO&Y%!DDyU{PS>0ru`totMJ?m9CC-WSSoFMb<>1`Z&g&D^|E~qs{%8vribwPD
zbb96y@{MvDW`Ag6?o_3B=FC=RW;WHGn;O|%;^oCXgJv0m^%=~XQUxLs2YA!%Neq@}
zIvcaAQ(aLMaaU(^s>-wtVpirm)H#v2Ge>X}6+^t~2;_+ojHp%l1caD})Ev7MV+gY<
zCQm=13Zg8=qvQ`0C4y{PrwN9XgaoctoJyfm05PKahjko-`<=*dY389#$mSlh#s*=^
z-y`#KOi>a9iSQ)@G?5@kl*ic|`8?+tWq>UO$m#Sgfh?p$hqw~ZrHp)q<t3IcAaAQG
zP-#&u0ddNVILk?C_DDUr!k9A_rKl5hYB*YG@E<<QkFkdiWJw8k6R|gP*rYVU6~twd
z11?cZNiGhzy1PM>PZJ#KNj?sv4=I+h=k$$v7(T#th^AQOhdEl}MxO?8bMIl$)@jr6
zNY9+YD{^UCRrWKY&r|MBCkSAajsFt=oiB4h+RXN#I-cbgaD+T>P^iV}INlqSYSX?`
zm#o_<L2sdPLj!%Od;S8I;{aKi?PPs?DyUb^bWopKWe27G#*ph6MTw?l+VLJ0DG+8*
zZyKYYpyD6!^4?23T}tRVC2}tfX}sJoiBg^POAvM36yb&^!xsYB^N>#oJo#h}2lxCJ
zQsEi_o|T)Fi>icjesmj@dziYx%vnCk#^J+*p8mSP=UKi3D)o%s)UA6s#bJA*jR6;7
z74i}mvDcV)X$pj4<A?I}vI7vN5e*+Q3Fo6@U6>Hk;}LmjBR^xkbkCUd@i}V8E4Vls
z_4=gtRKGUVxnJT%Loq(IDzRog#yO505F4aewdhDdCE7qAfWpBM?QPSbv5*5}o;Hph
zJW$giDX;2eX_ErQ7hB<%sEx8nES$|MaxfX?M5A6f>0>2ok=<*ba%2wErQ``E)2=4{
znE)04f;S?Aj!uTMYP0;50})-=AYl7PWab@6I{+gIf<%y(W6Cs^&=n(&9w1R;NddQ0
zIX)M{om3HSH6~8uGTlTufVhIHLSyj@n{I_6DW$i<fVT6n>}pcDk88CL=vr;?8si$3
zYkbdE>$Ym~p02h1UV294+oFXjXQG2X?hA=*MT6C;e3rI8VuCVTI~(n|&)FYcGciDp
zs1^}TEOc(X$)D-T6Y2$n!lTHSpW<?H>eDO}kX=c=i~K2;FKnV>pkeYz;68rrV{&`2
z*yLNxS_=d!MRoA1*U`9%kzh34-CbO>CK;u7`nzL_-zSBsV{nvIK=D(+-#Gxv{~9VI
zdgX%U<4;z_U~OXg^?CKV*r8cYX8H*VL+b@*dn68JjJv2<K9lDAF(~A|^CELZl+%v0
zL;O0R#AC;7ur_9l!!6z;+*r|!JLmb^9KQV<){y)8ah<t}P7oNM;a}ng5l%p{-@y@x
zc5Yl|;c#e(5hU5Ce%J^45XEA+G&{(RsHkDHFzY1clLji&j3*o6e?Wuzg2mRU0DqTc
z7J1x-t<GC%@{M^+o!Q(E*!@#K2>l&gP?O6<DfAKKj2}Ap)5{P<d&9(xHcVl&88?Ua
zzWu^EqN~0)4xOPxCL2mP&}G)<@{t&^^vj(Zf0=<16~4@}rb-RIpPe^nj?HO^7P1}L
zg65}G{Dcy=TqZp;vgHm*O6F@6CsX!<lV)5cGfw9|(fkcQoHr;~Jvkl>`ue;<&-nTj
zIVB8b!_|;c0{#blej$(Ozdicz(ElU40z@Re$&hff_S3_wHNI|+M)`5DM;u=)t!I*K
ziw<<LiO_uFJk|%%H0;h|5Omsw7kb`r@j-fZDjZQ2`Trd(PG>jL*?tL;nDSfdHpTo&
zu&2vK9NPRHCBzkGj6X$xgNk3_jjBjMBpm)7LRJga@>0=IE&Ytr_JfY+)n8?fO~0nJ
z`nXxeuPH{7Myc7~37Vsev-C18gWDqf%&|??+4!Ib+%W_LhMX9%KK{uIzD}!?{^C+>
zcEd0wpb_7`C$_)SGzD&i&`X<!%UHwtbnkmgwbdW~`2G7^ckX$cA3k_^XZ!B^{4)w4
zo%z(CI_)Ra6YY0Av9s)fTmAHhqT94rM|A1oWQkSfu{>4$FWGtN+Kw$nwSf1s6ib)z
Qek(7QmQh~7d)*cP2cKDYb^rhX

diff --git a/utils/__pycache__/separate_axis_theorem.cpython-39.pyc b/utils/__pycache__/separate_axis_theorem.cpython-39.pyc
deleted file mode 100644
index 47b92dd919a2145c943a1250a18af770481ff7d3..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 2023
zcmbtVJ8v6D5Z>K;kftR^&O?^q1i2yze1JqcPA4cr0tv312SPUyU=Vw}C3(`lyt@~P
z0a@9As3JxB0I^C{`4wsM0}|khG^tdlOT*0Uk&<FbK!7Z;vpX}lJKxOg%<;v=27&R%
zFF%JrxrF?Q%;jMN^C?W#1QL>v#$=bm%3_vSyA~ya?%8HKq4lE`+M)B(-gQITCcb+H
zXUG>mE$t_f(!NzTz7<kOU7<Ss(mp6%DRd#zF2e(}QHK=}5eugJ4amgW1N*CFM5~pN
zV|GlB*pby^Aq%aSbxkMi1>GSp=$IW*Be!RAI+I%?HnQ%KG2jFZ8QJD*Cv*+xRNM&G
zXTdSi?3HyydNi!zEfWj1Cv@zd%j+l~8H*sVf!rRsClpp^R6C*jw))k`U~gog+qY#(
zNqDPGo~L00qI8@8P6^o_i0-}@^*nu$d3hEO`&sH`5U!Z#YHco29+$$CB9}smREy9H
zhF+wVH;-$h;lcP!_SJ^jAvf23<UL69W*TxS`Ox3+vYw{~JQpBd^B(zY=O3bG4uM~}
z=FyGUBsX6ZRKUJAX}*Ll$g+6Ddnya@n(u1v{QO`~NRf8Mg<AuybG6ZG^&>qff@U{M
zTH6Dj7W?bp@U-9B5hCwwXQ__TA}dtqaiO9t?esF)`MijAwB8n}0_NkL&X>WS=<3dn
z(6GQql}QX8+5i)|%=(fiiI80C=7A7FJTwNC$hqWTqQA}$BekvvB9kI%4s;Tmz)46g
z=^~jAeButww_vIdfb_|TJbQOcCv*gbb&pKQGFc_at&$b;1AA__$tgX<J5I?dD_Qel
zNh6<?G?iEz5)0+;Pg;X45v>D0Ohv1kg`)K&O4?D<`Kk!wsM{)Z6sy(@ujnA!&Kzw%
zEE}6KR4BwS-&%(26ryzLcmDMUHsh?zW3|=1IQ9R1lvwP>8F>qK=wNc;pj<@l9U!YP
zXZWrdt%0tM`pbdU<dq36b`I<xw@II!&?>M#lX%9Y2`sWSFP*ABn8e0d+9K?W3Khor
z0>*p5{RQ)CcF#e0pf%ZD83O=K_UInN9EbFKc7K*xpPgZ>p+{Po41G&30av<ll=8S=
z+G!>ez*s@Sq+JK)eK>McL@=o4sja}qfLR&?6pYA(oUkei=F(GE*|x$=!`_&5v3H2W
zQ!4RzW&1o4AEF5FzLJLjZd776<$WX=(AO+HKoMGa{M2_#$8@XGkx<^kV3l`4S6WGw
z0^x^#y?QVB&)ThF;^03s-vp&&B&E#{h1y+!n#QWfp1}Xb1qOs~S1!MS5EhV_T0`f{
zcdo4pw5lEgA$OPQ0(GaZRna=V!(7Uyu2ZKrU7Fg=Q2TBA=9IBIllWNuTIr-kk`HGO
vKo4{1DiYsDS)29j(#CdaKCc30UgY_+EbE&|78bGC!d{_JUZ)FS%$@!N#h%xn

diff --git a/utils/__pycache__/simBase.cpython-39.pyc b/utils/__pycache__/simBase.cpython-39.pyc
deleted file mode 100644
index 2a1105fdc8bcd39529045f6f57ff0cff345acf61..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 2864
zcmZ`*TW=dh6rP#Ac<o%8CTWw<LL)9hhAM$_Rn=CZ35B9!ArcA6FRQI*>}<96n%Q*{
z2j{8%4Ls!`c`Psd3jV}A@WNC60zxg{nT;<AVytua%$eEQbNkLXnwhCEj6eVQUH(>P
z>@S*34hNGBQ1%^|WRfSW&Fg}*Z<rL)dBLRfT+|)RT<KxvVdg4NdD1@?vLu5SZr#Uf
zSyr%G!D>nJZC0H+!+EUMAU-*KOg2FFdy3V$WObn&<w`Eau_GPn;zUpR%8}kNm%c2$
zaG&#f344lPpqv#ZgJaKr)2)|_@0rqOnrgZ8s8)4MpjDJ?$A`+4_v4OC_jjU}@wLi(
zy3-(+hl6Anv<b>S0vqrF3)z4@Lnv<G8S-4@&WSq^r~ElgTqd0-9dKVVIO^8U1l~J)
z3#=+M$HTH}Nz>t`B6YOCsXDpR#%m^Nlp9BOTjokj<zbwwcDSqJ)^2X5pxwe=Yqp;@
zo0-btikqpVX^+xm=u4)r;PLnR`fl1*>-$l^qt+X#RO?UT_IBJ3f9O3;;>LO}kCSXY
zi`x&QOs#eMCJ4j06X#(_r(^*b<369}i~MlzJaTKpEibwDu-+hNhJ$2s)JAF=0>ub~
zC~dQsyawM%Yc0k5vm}$H1)GCp%7<y%-fl#RqMFR;G$szO4!=HHt$KzZ7~VHR9f10U
zF=WwjlpxUD8uJJO(&ivFV&E>r$|LW{ADTDtmdH#Y`3hTNizBlKKBW?RQRtfjZa6iY
zyEAgO>ga2DXbP2{Aw{Y1>N+Wwh%FOa0js-OB?p%GFMAyzuhvBhNfCH4FP8c8t8w6m
zTdEbxQzvSxFf^4gY^So9kUSlRKlh@fSkVA7GftLkeU+r3tJAL1dEXjryu8;<l)j0j
z30rI~C=Ht8PLxp=0x|CkKIhK9w)zHC7Y0Rn1C%`go5br1Bh-R>7P;;@a((6EXIFq<
zr@-%dPY6uq`=~pDscR~UYUU5qJWtyu$kXnR1O!{=MarpEhl6AyoAO^FoFi2bMh7;%
z15Qb{2o=yEvCx29jWelPLR$m6C*CSFO*+lZy%T@noN|d`!n}ksDdhnb3kdDd_JuNO
z?J4Y8*=j1bA9yu=1J)IdfV$n;J7CqR`b<aVPe%UMr!d_)ce!51<XhVY>H)-`Vwvw6
zQWlLvQ>OG37$Vti*$&~fqk|&fWvU+AV5)9Wq3_c6_lQx%CW^r3pK69GH(LZ_o{u&#
z&*uf`mG91p>-=zGoTgDv0361JPgQZDkCMUx+3ehdK-r-lO3^<;?Cs3v;>d*zxE8Rq
zfaC;QXvHEU80t500KWG=9=b}5fLQe|!LMEh=%PH{QwL-5GW;wIKE&&`+L<%UX9eih
z1s_N73-p`xIqK#57O}U95#01DF$&%P1B(((eIcVp7zhfi;NqX@1#L?}7(a<R>hacp
zn=8R_6h88Pz)ldnQ+~v$gzrN>fpkhYt5Y*PJbR5%6~@cDNt_$^SsHiHfj_{j&?PZ?
z!=>h1kxKR&>TB6jpJP`>rO9{&Hfp-}8Z@08WX=XCqcg|Aw_wK~1A9#a=;KSejz$3U
z0#n*kyF2}^!j)h|EDLYR!{H#AXcLsJffZ1e1UCF102h`!mb;dFmfI^=FW?n4<2!hm
z05JHf(NKw%w$xDC?kXh_aMfu6O5VOjl)u+VqAWw8?Da$kTndxT@O|hr+Cewu_;)yW
z?$`(udLDcJb4yaWSl0-KNE}r*p}}?!JgNRY5M5EF(-LAPYKKoBZ{1z}<>>a_CRu33
z)uC&nnRO4dyK8rvN4II+x;fSq?vCfy?co%u@tdh`N4X81{u1WtPl$a=>@#9i8u|-j
z)Eq7a$CSblg%yT$<DM6g%Wu9uyfO}qU9b9=akNUOS@hh!c<%UG`WOq;IWp>50iP>t
z(!l5isUqF&w|eo~NHXP-STskfCkwLzs8rJS{RtOFpEAL{;$nS3_q@H5r}^x)*;{k|
Ezt-kNi2wiq

diff --git a/utils/__pycache__/trajectory.cpython-39.pyc b/utils/__pycache__/trajectory.cpython-39.pyc
deleted file mode 100644
index 9af4f3b6fcb782f39c39da0f2a9307f632941c61..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 12063
zcmcgyU5p%8R<8f9uKt;xp2^JkXOrG+{yG_t$CF*MYrKw~u@VxzL)P|gHoY;mHGON^
z-R`OGxm6u|njT<rKu9PM0z548gGcO3kPt8Mzym^n7K9KWgb<<-JitQ~@q&be(27m?
z&Z+))PgYpMJyW;NJ@=>XJ?GqW&pG#cxtycm_b=c3UEx2cDE~&8@t=jv1w~QA7=TbJ
zicp2tRCl$CrV^|-^<AT4Fl;o<U8`a-Y&KIB8|79rz3Wt*-ApCJ_*65yo2%sdb@G)w
z>X^;B${fE7m4aWmH}4k@)yl#vim*lc9Yv(?Xq83e9FajTgWMy&gM3!xkk8%G?x>X|
z#^l8uFmsGqW=uiM12gY0`O9|<)LUU}Q7izv!1ay^^Qux_?6#eYo#;kOo-JLjS8w=1
zt@MT;IG4Q0KU>;Z-`F^H=FF+}FP6@%pWWCvyYakp$q%ct-j3?6;B3j+Y_<1gy>=ri
zJyR`n{nGY+>Gjtxd)up}i_K=~3KfQ>D}Lz9w|%izay}wDm(@7q1wkwFsG|_s?8WUc
zl3q2s>;*pZ_SJT?9{3xVw#r(Z7GC64n_d{k=1$#j3REzKzt{1r)Z6%P$hphF`btFw
z_cTyh<3C*(cTHgm>m8$_i<GeMsv<2M<cxkUBeKYu{ajAuk+Z}cXjO>QSNv+^1+}K%
z%{1#_^v#`S%ZsjKO!SV8trmuE##Yr2B45T<6Xc9;#OAHKz)RovZpD`LqmB%!=Gd4C
z*70nTz`YJ2Qtqie^-%38uGZ6#>OCE)(KC>mJ>{Ntr~pbuO2fXF?kSBF*L6^m;gT$%
z97B1bTva|$x5{&|7PMp2lhWIl8GJ-$DalciM-pdiesqNx;(rBmNy{N<fe&7@7VGuk
z?Ko9W>ckmTzq;9yfiJ_@4hN6}^Z-s(lVXs>2>s^Htj~U+$j{*G-`_ZWqqXawzUA!)
z{^@E<_@^(|cdyoW-Pb$Y&3g58C#pBY(-4pbSkRLDYwi8mcHMeVk6iaSdI$?h6fLV-
z{O70z)ls{}A;;DRmA~%<?X^HKAwE#$99mUXYTN%2OhUxmI1d0+R>2YQp`jlV1TGMi
zQEJ*KH>y$72;VS;`mP4C(Y9Dvqy4sDw&XlIltm=5UTuX5<@K;0#3`1c=Ql8<lT?SO
zk|d83w1DJEJR$2X^`yG=iKZDJcb7&J9OvJCGqTZ^XH)@zu|l>QSQaNBM-83cHJYE6
zfpR+<my{+o2lWQHnsKP|Y(LWQg|ac4>6oBBg`(-1tpEoVJeb*%x~Ss$LHCh~nGHm3
zVq&yt3_Lus#{pmpVAg>eY4@;T8U_}Tc7P?+py`^+SPGKF1bjG#SFB#+QO3GxMRE}s
zme8`!9H^wPUFl15#ldRm!_&hj**k+LB$-iETg|K8#fhQ!8*Y_TB(Z_F>$`63xbALC
zbeaTbU3ahJHIowg7`kD0OQMXV{>Q$_V!;wY9Hkl|0k*c3$y<3#Ql^S$;zu;PK+1*0
zc}ypgR@Co8Ckm7Gp$a`|i4-uj1CdU|-UAIuI}Yi@JQzF|JDA;OtJ$mzpFbx_B+Ghi
zNWXfK)0dJ}MeG^;2qwW`RuK<+q}>$OZcxz!#%OX4W%4wVJ{v}eF)A<th)`d`6Vmh)
ztorW4Xk^3XE=wrH=+uj`I%8Zk_7ol-*Y5%7sSVb?4UN|L0W@zzM>@bl$`2q`Tu1BI
zF?%NJm_sbpu_Ci)^^6tej(U(9mRKmUqtrbz5wv%do_z`Bhw43*a1hh9(6RcohC}a~
zc8IcrbT8FQuP9tY?blF8HC8~ovavO>E{M=Xl&i#ZlIt2)#`P@L1*UgL{Z(zx0KrL=
zpqg}VJH!^Nt*ysKJ@R*_$Q(Q8XsfHXcH8HF3@!c>kJ4Qqqja)UT$5f9ZpwO8udbbI
zwyIt;JP%;dR6b2#%gANCWSNo^lsrQT??xL0@fsYe$dTeGJBd<Ur%JTiDyH|67y1>$
zd%YD_%<UwzO&Po03a?@FYF1Lo$Tln5_KoRT&EGfbFQeO#7L<am!&38Fl4h}>7uA(d
z4842u(<U7o+pShpeirQ~ctL_c)KT9+23s@fDOSMHPT1&$dJJm!rXsHa)`oCWkJNHs
zi;dNTH8ZFu^s9;hKg;Hpq`m7SO0K<(<?{l7(efFnwG_-ZFzHOC4{S`6CSAvF&dd8N
z=pZCB0VL5@K$aENNVHqO!rHLv7If;f^gUALa+MNRWITqmlpSqoBOP`M1yqBTr>zx@
zVnGtFif7_SRJ=gaybWNW!M+Bn!HUy-L+Ix~1869MO@=LoErwGJrx>;wwi!+{oMzZz
z*a4gYEwgcc)0dGS*1g~=*+jKuIREjYOaqG5=)(j-@a<UL@9*T*j*RuU{U%mbwYmj)
zpQ6b*YCPw<W45pBN>a=6MM}sLlNTttNXbi-%p%;6qTmfYAvJJd^^E=`l^spM_fh&O
z1T;ZFB3cSYFTq5pbR{Jmz!}EdjL$NhW;n;N!*HJA48wB_XBjRqoMU*N;XK1dz+^Wp
z#F>|+AHb$0YH!6loB<fn@C9DI)Th02foU&^hLTomtcEP{WSK^>EnA()e^uN@TUWs1
zbcKjbN=2*+?D2#|0wkrPJU7jpm#O1TO86765cDb~uTk>jl#o*)X<5iEN`8Wp*D0CB
zq)R9uc@3A4OfqS}E=hInV^#{t3nc9{q5-oKSr_^{3ijo}A3PcOGw@@0e;#1521NR<
z#hxR1FIf;c7n@Al?h3z3t({VI!!M0l)DvoplnD7HAcq=$9stx3DJe~^lR^Td%k{pQ
z1*Nq><p#Z%74}8oG~=UsqLLEjZzeKL#Egwy4<3;b?#U>j<P6I&&bcmhdDJ)ZJ80M6
z>KC!q^DMB-kJU)T!$CcG9Gbk1XCL-R;&$Ei+HEhfOK4t$AK6R8dEP^YZDZQ`O}6L>
zvS6!Nn4i7~gNywztp_iR^2?Mb*aAgVc}0*_1J#2xC8*2}UK2X`ZAt3`_-ydlQo>-0
zS@d2c+BpREX-9Q3gu|0MLG;x5J2unQ-1_i0zeB%2c#)-Fk`0tlI4iFZ{5eXVpoArL
zq+M8!S+TI5fq9U~acp>SLCSWr$$pK{U#EmLjHEp)&cIo5Auo~V$~c3{!^{GFUU#=1
zbV8R&>`GURtp>8x;zhC^nttTFRj;p9H!dBZBqUcy(HzymZc7duId8T`JFfkSjV-5p
zJmK@K4$2l79LgEPP1wu^IrWbpd3m&|Se$<wK;QhNeOOyjz+yN*JsnUg(&6Bd31<T`
z8A|u;UJ7hV_bd{D0|zA*o)p9a7#L_MW#&1D#CjXOrOEg^$Z#JS^p*u=^a#p9NJwOC
z?kf+->E+N%o*XYXVSJW^!p$<nwJm0GIVV{ojo3NK?AWd%7!%fOfn>%q@0ricappZK
zE$BU>x^yX-LA+Rl3f08E{3ca+3kkR{TVd!*;Rd3T5q=Y5z`{_OBT<+@kf4kq<aO$0
zq#aov=7;RuVV%Em=~qyzFANsMz#)-<K$Q6HzyvE`hwCm+3B#Z@T&pQv9;aMaw5r%!
zuhI8^k`ggF5*`x`M}8H_9-h7@WoWj&RAlUZn%O|L3#1a)p&$pEIk7{0!-xIxt_ppt
z`&i)E*i6I%Ex=@Xa7?d)SkstC<@9qDzcVTsKPw7cIxmXvP}D9r#4LzK#^i^XN5m3i
z=7yMMvBH?b5OYi%XUse>C%EU6;xmjX4(mKB9%IbH5K|JLWz3@gh<IEm;&XR3@q~Di
zaZBPUKuTpvJT0CPW$`S0#plE-M!zghA-{&Yr^Pz*E8+})aYH<h+%fTaYzJS69k>bo
z2u^o?1eZ9rw+3%yPWU@sry03B2n8a}(+{*U<FCh7NY+8fyMJPc8IZT=zMV@0n|P_y
zW)P8nh1)aqF=HKpIe7y`a@Mv3(LuTEl9~vqCk1h&(O9wPaB*x#9VoT?Eq-b;+)_vl
z<MVJS1vzuD_MvCg204`EMv~KL?NB6E>+U$E{x69U^8SpNXH?=@-@jv@9X7bVTH43I
zcWbo-<8!qH<8!r?7*G6$Uo@=Cn+6sP%|F)Lt@gC}$?D=IlzyNkfe?oV;qoA+S8^Wh
z-BI!HpjEO*n^>;L#)vjqZ-QY&FWQEgVdUZcFnWPz<Wk#s(mOWO?%Sj3aeVcM(yp}A
zk|pW4o8Ep2ff&E}e<J2;X<%%Qz6*t*z)xkd+68<hStVI@i7sdBGN9~~hAd3d%ay;6
zN+ZgiIFhoi>}EMI-j7XBP@0CQ<6%mZuN}dp<3I!!2!$eOk-%u1XhiIxMjT8i0^neR
z!=kKAgc5kh5Sr&v36?i4)v0;OFQDj;@W>xQ(tUDl8n?gN@jL#k&;fd+t^4Q&Yb9;}
z5S5bks*UTGwWM@nPXFJ8U|){5lv(rtQ^Maj|NSH9FGFfDOH)}%qdz`k;z{X4ojBVY
zM@{_ChZBE#jPcM~4={Cm(Cm9-lV6z8?L(dZMVjGJ)Bnqv(}%u(km(Pa{lyW}ACy1T
z>C>ih<n;e$=Jc^sJ;?M2&Hn0$=?}`gPNEDEO}PG0Nx?e)C`tIcAt|06lh|axegJA@
z##;XE7(te1cm7c6z%I*CbohrM9iE#SDh!qfAVii3F=+btW0Y7vqWgzR3f}CGBE>%q
zNwGRM)`6Ar0JO+WwEf31VyqnXfo_2hwMWI*aW1e(IJdRqMgz;e4g;M0=?UUlKn#su
zvVm&K0ZiTloH63`M7g9~zl?Jet!Fe4@WqjwK?cY5lQ=ao4R*a>!0`}HyHy<AnTM*X
z>^%{|K)yqfCPRKB35++i08aXWzE{BM3LN)4biS&0U)XE~RTvuqo|0Fh0kg3@HsBH>
zgsl=n72^S~BwYRpeh6OIG3La?px|F@Azb7KLN*A!g9KH2!zx^v>Q$T}S@xx*@+m_O
zfs^6b{u$+b9HZz40_g@03(3vR!?iuBcE?xiSfeW0UxOdHpF=ADG%{o=*A&F!RtTa4
z0vvy8!IGe3PjWlR*-+@PfM^=&LMN&=$kfw7|7VFegIYa3sWs>cd;yJ_FY4a;9!@dX
zT`?JBa%jTXk_Q;YC=LZGu>nl9ku<>A#JNz-Pv}Tw!^!YTyedu$5d_In#o^XitxwTT
z{tW8<JD%idpD3jnY7w!aB2I|AMHbfaTO-%mXCE9#nxqWE*x@Szi80DjOSbIbN9IZz
z&nCI_e})o@{*j{wT7hzren$(B_tY93H&7Hu4F^VKK=u&tBV!p9{8u{nBg!>W97M8u
zCSaR_KRv5q3zP`Jkm2w4bdp*~w28bT-|y)Hv;+r?@tVMZLxUcJB7Lg|YX7|UWkprq
zQ}-5o7T@_8`_iHMmUfUjuu(!W!-*1{A6gtuoWu_6-OD0;Wh1oZ9O61t|I4{SFK&Ks
zeQL(9Va9`R%n7A~G0Dd<LhYso=n76R=LY5OTtIS3<Hwvqm$4Ge<ngJVe;qN`K5d1`
zy?qzG6{rW2V7GwzYkS4sSS?VJzWUc($HEtq+Mv2y2rdl1y-eSpPjUoN6gL?am-K0j
zlH!WOw;z~RZUJNLMF^&kMuqcStef}L>)$#s-&4D|XEWB%!te_VQ(ssdmMo5cq0w*A
zr_QhyM$&K5FX2|pIF&hpkmAGq=InWlMnxmSn6hsu!Bd73J@THu|1A}Aii>Wfe-b(_
zy-9p~>P;ok)|F_vm!&n(%ZL<3yoJ3$J>+^LnOmaTLz<^=n(yiIPpCIRYio%il7|E$
zt|t(2eTnswvlW}Zlr5QPCe~4JVx4m!^`noW@i}1rVWJ2A`^Aq)DU?@Y`<5qzdQc1F
z{7$_I_jQ<e>WFkgiv(3aHc0cxpQZkIdmxP$=c=ua41G7`YisP@1LrlXbV7jx*H(Z4
zEoJFABF_*G3*Yu|8_ehUWUSRi5*lD9ifw83Cs>!VM|qw;l)usmqWZ4?Ml#gov~U9@
z<$My@{W%)g9V8W-RG?cIw<~F{DSc1uyP^Cxb)r|p_N?Hq+~!gt_G9(tls=9Zl6b2d
zwMKFL|3dw+hlHc}h~Cq_R)ns86d_xj=&D)1l64#!oBkH{B9|7llPD`-@3ZK>k9J%=
z{z<_+j<y78oYy|qbnOR*F@Z52{~z0=9W#r==mJg+7S%<q`{>AKS(`CPN&9A5lkek|
zm@ea+Ds2EZ9^M4r0x$>|lF<Ui3dIkz1cnEqc6!6WnLQMAax#EYla7b(;i?Csdx%Qm
zOn@M}r{hA0fjGZK>h;isLF4d2r`G+oVa(_a?0|kLEY(B0HQA4RA{>Q#k*%N(8ENjr
zaH)cG5WX5f4r_@zF4~Yl-5(J|<S!5~bI^_s_rlfi=~b~Ro-S2eEh%t~55d!thi`V;
zxKZhg;Yha1={W5Non2o7&wF@0w^I)g@%K?579dVqNc@sx>URnHWlAV;&yn?VI*~r2
zacrWce>*XVT&gkSoZ&v{8lDZ2fF)e~k_zeK3kU|JMbERnG{Nl|jpP^c#R=mSy*yal
zi{u8;7d0#az!jR6B<h8eJ++}OVi&KeUx%*S(-PLoUqCh7S4|F#w~(3T4aezoHJo(c
zM&R`oj4TNSof?zidgunN;6|$nLD-$RPBUl+yIhBK932vyo9g3bA|wkvj?|9+)K>ZU
z)Io~$X%=MN%U_~|tvjp~B{7(964aukjU=|)vem}DiG3Lnu0zS&l-#1^HYNL%bSe2M
zBypB3vwC&c#~ozB7N7hLD*O&5cPSYe)C@gJI5Nn83r|R_b~J<ajIHPGysbe_KK&`?
z>`Za9kW0+^<2*yUkGInyU5q0mqEkG_H%`}N%M&%}wQoqBu*C#h?QGYp165B#5}Q~%
zxC%W_aAtU08J-fE>r6j7Lv1#bl^Z4z&0nOlE7Zhlwra4FW4b=;CNMK1PEiJnKe=gl
ziW<=U4!$>#n7c%aSwxEMbIA?E^CbS^Ge`_8xp!dmaheVNY-^5{e=J`D#T-0&O<g>r
Gss9VVfiiCZ

diff --git a/zh/AnalysisAndEvaluation/Database/index.html b/zh/AnalysisAndEvaluation/Database/index.html
index 497dcbb..c5af91d 100644
--- a/zh/AnalysisAndEvaluation/Database/index.html
+++ b/zh/AnalysisAndEvaluation/Database/index.html
@@ -9,13 +9,13 @@
       
       
       
-        <link rel="prev" href="../../DecisionAndPlanning/Customization/">
+        <link rel="prev" href="../../DecisionAndPlanning/Overview/">
       
       
         <link rel="next" href="../Evaluation/">
       
       <link rel="icon" href="../../../assets/images/logo.svg">
-      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.0.5">
+      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.1.3">
     
     
       
@@ -23,10 +23,10 @@
       
     
     
-      <link rel="stylesheet" href="../../../assets/stylesheets/main.558e4712.min.css">
+      <link rel="stylesheet" href="../../../assets/stylesheets/main.c4a75a56.min.css">
       
         
-        <link rel="stylesheet" href="../../../assets/stylesheets/palette.2505c338.min.css">
+        <link rel="stylesheet" href="../../../assets/stylesheets/palette.a0c5b2b5.min.css">
       
       
 
@@ -187,7 +187,7 @@
         <a href="https://github.com/PJLab-ADG/LimSim.git" title="前往仓库" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -206,7 +206,7 @@
           
             
 <nav class="md-tabs" aria-label="标签" data-md-component="tabs">
-  <div class="md-tabs__inner md-grid">
+  <div class="md-grid">
     <ul class="md-tabs__list">
       
         
@@ -304,7 +304,7 @@
       <a href="https://github.com/PJLab-ADG/LimSim.git" title="前往仓库" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -342,16 +342,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_2" type="checkbox" id="__nav_2" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2" >
       
       
       
-        <label class="md-nav__link" for="__nav_2" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_2" id="__nav_2_label" tabindex="0">
           Getting Started
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Getting Started" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_2_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_2">
           <span class="md-nav__icon md-icon"></span>
           Getting Started
@@ -447,16 +447,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_3" type="checkbox" id="__nav_3" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_3" >
       
       
       
-        <label class="md-nav__link" for="__nav_3" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
           Decision & Planing
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Decision & Planing" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_3_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_3">
           <span class="md-nav__icon md-icon"></span>
           Decision & Planing
@@ -477,48 +477,6 @@
 
             
           
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Decision/" class="md-nav__link">
-        Decision
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Planning/" class="md-nav__link">
-        Planning
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Customization/" class="md-nav__link">
-        Customization
-      </a>
-    </li>
-  
-
-            
-          
         </ul>
       </nav>
     </li>
@@ -540,16 +498,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_4" type="checkbox" id="__nav_4" checked>
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_4" checked>
       
       
       
-        <label class="md-nav__link" for="__nav_4" tabindex="0" aria-expanded="true">
+        <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
           Analysis & Evaluation
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Analysis & Evaluation" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_4_label" aria-expanded="true">
         <label class="md-nav__title" for="__nav_4">
           <span class="md-nav__icon md-icon"></span>
           Analysis & Evaluation
@@ -565,7 +523,7 @@
   
     <li class="md-nav__item md-nav__item--active">
       
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      <input class="md-nav__toggle md-toggle" type="checkbox" id="__toc">
       
       
       
@@ -898,7 +856,6 @@
   
 
 
-
   <h1>Database</h1>
 
 <p>LimSim 会在仿真时将所有数据存储在数据库中，方便对仿真进行分析与评价。LimSim 使用轻量级开源数据库 <a href="https://www.sqlite.org/index.html"><img alt="🔗" class="twemoji" src="https://cdnjs.cloudflare.com/ajax/libs/twemoji/14.0.2/svg/1f517.svg" title=":link:" />SQLite</a> 进行数据存储，方便数据的查看与迁移。LimSim 对仿真数据的存储主要分三个部分：路网数据、车辆数据和仿真数据，下面分别对这三个部分进行介绍。</p>
@@ -1394,7 +1351,7 @@ <h3 id="evaluationinfo">evaluationINFO<a class="headerlink" href="#evaluationinf
       <nav class="md-footer__inner md-grid" aria-label="页脚" >
         
           
-          <a href="../../DecisionAndPlanning/Customization/" class="md-footer__link md-footer__link--prev" aria-label="上一页: Customization" rel="prev">
+          <a href="../../DecisionAndPlanning/Overview/" class="md-footer__link md-footer__link--prev" aria-label="上一页: Overview" rel="prev">
             <div class="md-footer__button md-icon">
               <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
             </div>
@@ -1403,7 +1360,7 @@ <h3 id="evaluationinfo">evaluationINFO<a class="headerlink" href="#evaluationinf
                 <span class="md-footer__direction">
                   上一页
                 </span>
-                Customization
+                Overview
               </div>
             </div>
           </a>
@@ -1448,11 +1405,11 @@ <h3 id="evaluationinfo">evaluationINFO<a class="headerlink" href="#evaluationinf
       <div class="md-dialog__inner md-typeset"></div>
     </div>
     
-    <script id="__config" type="application/json">{"base": "../../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../../assets/javascripts/workers/search.e5c33ebb.min.js", "translations": {"clipboard.copied": "\u5df2\u590d\u5236", "clipboard.copy": "\u590d\u5236", "search.result.more.one": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.more.other": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 # \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.none": "\u6ca1\u6709\u627e\u5230\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.one": "\u627e\u5230 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.other": "# \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.placeholder": "\u952e\u5165\u4ee5\u5f00\u59cb\u641c\u7d22", "search.result.term.missing": "\u7f3a\u5c11", "select.version": "\u9009\u62e9\u5f53\u524d\u7248\u672c"}}</script>
+    <script id="__config" type="application/json">{"base": "../../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../../assets/javascripts/workers/search.208ed371.min.js", "translations": {"clipboard.copied": "\u5df2\u590d\u5236", "clipboard.copy": "\u590d\u5236", "search.result.more.one": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.more.other": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 # \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.none": "\u6ca1\u6709\u627e\u5230\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.one": "\u627e\u5230 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.other": "# \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.placeholder": "\u952e\u5165\u4ee5\u5f00\u59cb\u641c\u7d22", "search.result.term.missing": "\u7f3a\u5c11", "select.version": "\u9009\u62e9\u5f53\u524d\u7248\u672c"}}</script>
     
     
 
-      <script src="../../../assets/javascripts/bundle.51d95adb.min.js"></script>
+      <script src="../../../assets/javascripts/bundle.efa0ade1.min.js"></script>
       
         <script src="https://polyfill.io/v3/polyfill.min.js?features=es6"></script>
       
diff --git a/zh/AnalysisAndEvaluation/Evaluation/index.html b/zh/AnalysisAndEvaluation/Evaluation/index.html
index c2af7a8..1e2f331 100644
--- a/zh/AnalysisAndEvaluation/Evaluation/index.html
+++ b/zh/AnalysisAndEvaluation/Evaluation/index.html
@@ -13,7 +13,7 @@
       
       
       <link rel="icon" href="../../../assets/images/logo.svg">
-      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.0.5">
+      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.1.3">
     
     
       
@@ -21,10 +21,10 @@
       
     
     
-      <link rel="stylesheet" href="../../../assets/stylesheets/main.558e4712.min.css">
+      <link rel="stylesheet" href="../../../assets/stylesheets/main.c4a75a56.min.css">
       
         
-        <link rel="stylesheet" href="../../../assets/stylesheets/palette.2505c338.min.css">
+        <link rel="stylesheet" href="../../../assets/stylesheets/palette.a0c5b2b5.min.css">
       
       
 
@@ -185,7 +185,7 @@
         <a href="https://github.com/PJLab-ADG/LimSim.git" title="前往仓库" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -204,7 +204,7 @@
           
             
 <nav class="md-tabs" aria-label="标签" data-md-component="tabs">
-  <div class="md-tabs__inner md-grid">
+  <div class="md-grid">
     <ul class="md-tabs__list">
       
         
@@ -302,7 +302,7 @@
       <a href="https://github.com/PJLab-ADG/LimSim.git" title="前往仓库" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -340,16 +340,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_2" type="checkbox" id="__nav_2" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2" >
       
       
       
-        <label class="md-nav__link" for="__nav_2" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_2" id="__nav_2_label" tabindex="0">
           Getting Started
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Getting Started" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_2_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_2">
           <span class="md-nav__icon md-icon"></span>
           Getting Started
@@ -445,16 +445,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_3" type="checkbox" id="__nav_3" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_3" >
       
       
       
-        <label class="md-nav__link" for="__nav_3" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
           Decision & Planing
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Decision & Planing" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_3_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_3">
           <span class="md-nav__icon md-icon"></span>
           Decision & Planing
@@ -475,48 +475,6 @@
 
             
           
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Decision/" class="md-nav__link">
-        Decision
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Planning/" class="md-nav__link">
-        Planning
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Customization/" class="md-nav__link">
-        Customization
-      </a>
-    </li>
-  
-
-            
-          
         </ul>
       </nav>
     </li>
@@ -538,16 +496,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_4" type="checkbox" id="__nav_4" checked>
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_4" checked>
       
       
       
-        <label class="md-nav__link" for="__nav_4" tabindex="0" aria-expanded="true">
+        <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
           Analysis & Evaluation
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Analysis & Evaluation" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_4_label" aria-expanded="true">
         <label class="md-nav__title" for="__nav_4">
           <span class="md-nav__icon md-icon"></span>
           Analysis & Evaluation
@@ -577,7 +535,7 @@
   
     <li class="md-nav__item md-nav__item--active">
       
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      <input class="md-nav__toggle md-toggle" type="checkbox" id="__toc">
       
       
       
@@ -762,7 +720,6 @@
   
 
 
-
   <h1>Evaluation</h1>
 
 <p>Evaluation模块用于实时评估车辆所处的场景。其包含了五个维度的评价指标，评价结果可以用于决策，也可以用于场景提取，为后续的测试提供数据。</p>
@@ -863,11 +820,11 @@ <h2 id="data-retrieval">Data Retrieval<a class="headerlink" href="#data-retrieva
       <div class="md-dialog__inner md-typeset"></div>
     </div>
     
-    <script id="__config" type="application/json">{"base": "../../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../../assets/javascripts/workers/search.e5c33ebb.min.js", "translations": {"clipboard.copied": "\u5df2\u590d\u5236", "clipboard.copy": "\u590d\u5236", "search.result.more.one": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.more.other": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 # \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.none": "\u6ca1\u6709\u627e\u5230\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.one": "\u627e\u5230 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.other": "# \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.placeholder": "\u952e\u5165\u4ee5\u5f00\u59cb\u641c\u7d22", "search.result.term.missing": "\u7f3a\u5c11", "select.version": "\u9009\u62e9\u5f53\u524d\u7248\u672c"}}</script>
+    <script id="__config" type="application/json">{"base": "../../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../../assets/javascripts/workers/search.208ed371.min.js", "translations": {"clipboard.copied": "\u5df2\u590d\u5236", "clipboard.copy": "\u590d\u5236", "search.result.more.one": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.more.other": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 # \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.none": "\u6ca1\u6709\u627e\u5230\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.one": "\u627e\u5230 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.other": "# \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.placeholder": "\u952e\u5165\u4ee5\u5f00\u59cb\u641c\u7d22", "search.result.term.missing": "\u7f3a\u5c11", "select.version": "\u9009\u62e9\u5f53\u524d\u7248\u672c"}}</script>
     
     
 
-      <script src="../../../assets/javascripts/bundle.51d95adb.min.js"></script>
+      <script src="../../../assets/javascripts/bundle.efa0ade1.min.js"></script>
       
         <script src="https://polyfill.io/v3/polyfill.min.js?features=es6"></script>
       
diff --git a/zh/DecisionAndPlanning/Customization/index.html b/zh/DecisionAndPlanning/Customization/index.html
index 6f8b63f..6b2cea9 100644
--- a/zh/DecisionAndPlanning/Customization/index.html
+++ b/zh/DecisionAndPlanning/Customization/index.html
@@ -9,13 +9,9 @@
       
       
       
-        <link rel="prev" href="../Planning/">
-      
-      
-        <link rel="next" href="../../AnalysisAndEvaluation/Database/">
       
       <link rel="icon" href="../../../assets/images/logo.svg">
-      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.0.5">
+      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.1.3">
     
     
       
@@ -23,10 +19,10 @@
       
     
     
-      <link rel="stylesheet" href="../../../assets/stylesheets/main.558e4712.min.css">
+      <link rel="stylesheet" href="../../../assets/stylesheets/main.c4a75a56.min.css">
       
         
-        <link rel="stylesheet" href="../../../assets/stylesheets/palette.2505c338.min.css">
+        <link rel="stylesheet" href="../../../assets/stylesheets/palette.a0c5b2b5.min.css">
       
       
 
@@ -182,7 +178,7 @@
         <a href="https://github.com/PJLab-ADG/LimSim.git" title="前往仓库" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -201,7 +197,7 @@
           
             
 <nav class="md-tabs" aria-label="标签" data-md-component="tabs">
-  <div class="md-tabs__inner md-grid">
+  <div class="md-grid">
     <ul class="md-tabs__list">
       
         
@@ -235,15 +231,13 @@
         
   
   
-    
-  
 
 
   
   
   
     <li class="md-tabs__item">
-      <a href="../Overview/" class="md-tabs__link md-tabs__link--active">
+      <a href="../Overview/" class="md-tabs__link">
         Decision & Planing
       </a>
     </li>
@@ -299,7 +293,7 @@
       <a href="https://github.com/PJLab-ADG/LimSim.git" title="前往仓库" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -337,16 +331,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_2" type="checkbox" id="__nav_2" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2" >
       
       
       
-        <label class="md-nav__link" for="__nav_2" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_2" id="__nav_2_label" tabindex="0">
           Getting Started
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Getting Started" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_2_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_2">
           <span class="md-nav__icon md-icon"></span>
           Getting Started
@@ -435,25 +429,23 @@
 
   
   
-    
-  
   
     
-    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_3" type="checkbox" id="__nav_3" checked>
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_3" >
       
       
       
-        <label class="md-nav__link" for="__nav_3" tabindex="0" aria-expanded="true">
+        <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
           Decision & Planing
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Decision & Planing" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_3_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_3">
           <span class="md-nav__icon md-icon"></span>
           Decision & Planing
@@ -474,56 +466,6 @@
 
             
           
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../Decision/" class="md-nav__link">
-        Decision
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../Planning/" class="md-nav__link">
-        Planning
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-    
-  
-  
-    <li class="md-nav__item md-nav__item--active">
-      
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
-      
-      
-      
-      <a href="./" class="md-nav__link md-nav__link--active">
-        Customization
-      </a>
-      
-    </li>
-  
-
-            
-          
         </ul>
       </nav>
     </li>
@@ -543,16 +485,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_4" type="checkbox" id="__nav_4" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_4" >
       
       
       
-        <label class="md-nav__link" for="__nav_4" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
           Analysis & Evaluation
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Analysis & Evaluation" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_4_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_4">
           <span class="md-nav__icon md-icon"></span>
           Analysis & Evaluation
@@ -629,6 +571,7 @@
   
 
 
+  <h1>Customization</h1>
 
 
 
@@ -648,42 +591,6 @@
         <footer class="md-footer">
   
     
-      
-      <nav class="md-footer__inner md-grid" aria-label="页脚" >
-        
-          
-          <a href="../Planning/" class="md-footer__link md-footer__link--prev" aria-label="上一页: Planning" rel="prev">
-            <div class="md-footer__button md-icon">
-              <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
-            </div>
-            <div class="md-footer__title">
-              <div class="md-ellipsis">
-                <span class="md-footer__direction">
-                  上一页
-                </span>
-                Planning
-              </div>
-            </div>
-          </a>
-        
-        
-          
-          <a href="../../AnalysisAndEvaluation/Database/" class="md-footer__link md-footer__link--next" aria-label="下一页: Database" rel="next">
-            <div class="md-footer__title">
-              <div class="md-ellipsis">
-                <span class="md-footer__direction">
-                  下一页
-                </span>
-                Database
-              </div>
-            </div>
-            <div class="md-footer__button md-icon">
-              <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M4 11v2h12l-5.5 5.5 1.42 1.42L19.84 12l-7.92-7.92L10.5 5.5 16 11H4Z"/></svg>
-            </div>
-          </a>
-        
-      </nav>
-    
   
   <div class="md-footer-meta md-typeset">
     <div class="md-footer-meta__inner md-grid">
@@ -706,11 +613,11 @@
       <div class="md-dialog__inner md-typeset"></div>
     </div>
     
-    <script id="__config" type="application/json">{"base": "../../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../../assets/javascripts/workers/search.e5c33ebb.min.js", "translations": {"clipboard.copied": "\u5df2\u590d\u5236", "clipboard.copy": "\u590d\u5236", "search.result.more.one": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.more.other": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 # \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.none": "\u6ca1\u6709\u627e\u5230\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.one": "\u627e\u5230 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.other": "# \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.placeholder": "\u952e\u5165\u4ee5\u5f00\u59cb\u641c\u7d22", "search.result.term.missing": "\u7f3a\u5c11", "select.version": "\u9009\u62e9\u5f53\u524d\u7248\u672c"}}</script>
+    <script id="__config" type="application/json">{"base": "../../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../../assets/javascripts/workers/search.208ed371.min.js", "translations": {"clipboard.copied": "\u5df2\u590d\u5236", "clipboard.copy": "\u590d\u5236", "search.result.more.one": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.more.other": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 # \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.none": "\u6ca1\u6709\u627e\u5230\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.one": "\u627e\u5230 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.other": "# \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.placeholder": "\u952e\u5165\u4ee5\u5f00\u59cb\u641c\u7d22", "search.result.term.missing": "\u7f3a\u5c11", "select.version": "\u9009\u62e9\u5f53\u524d\u7248\u672c"}}</script>
     
     
 
-      <script src="../../../assets/javascripts/bundle.51d95adb.min.js"></script>
+      <script src="../../../assets/javascripts/bundle.efa0ade1.min.js"></script>
       
         <script src="https://polyfill.io/v3/polyfill.min.js?features=es6"></script>
       
diff --git a/zh/DecisionAndPlanning/Decision/index.html b/zh/DecisionAndPlanning/Decision/index.html
index 3a24baf..ce1a3d7 100644
--- a/zh/DecisionAndPlanning/Decision/index.html
+++ b/zh/DecisionAndPlanning/Decision/index.html
@@ -9,13 +9,9 @@
       
       
       
-        <link rel="prev" href="../Overview/">
-      
-      
-        <link rel="next" href="../Planning/">
       
       <link rel="icon" href="../../../assets/images/logo.svg">
-      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.0.5">
+      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.1.3">
     
     
       
@@ -23,10 +19,10 @@
       
     
     
-      <link rel="stylesheet" href="../../../assets/stylesheets/main.558e4712.min.css">
+      <link rel="stylesheet" href="../../../assets/stylesheets/main.c4a75a56.min.css">
       
         
-        <link rel="stylesheet" href="../../../assets/stylesheets/palette.2505c338.min.css">
+        <link rel="stylesheet" href="../../../assets/stylesheets/palette.a0c5b2b5.min.css">
       
       
 
@@ -182,7 +178,7 @@
         <a href="https://github.com/PJLab-ADG/LimSim.git" title="前往仓库" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -201,7 +197,7 @@
           
             
 <nav class="md-tabs" aria-label="标签" data-md-component="tabs">
-  <div class="md-tabs__inner md-grid">
+  <div class="md-grid">
     <ul class="md-tabs__list">
       
         
@@ -235,15 +231,13 @@
         
   
   
-    
-  
 
 
   
   
   
     <li class="md-tabs__item">
-      <a href="../Overview/" class="md-tabs__link md-tabs__link--active">
+      <a href="../Overview/" class="md-tabs__link">
         Decision & Planing
       </a>
     </li>
@@ -299,7 +293,7 @@
       <a href="https://github.com/PJLab-ADG/LimSim.git" title="前往仓库" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -337,16 +331,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_2" type="checkbox" id="__nav_2" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2" >
       
       
       
-        <label class="md-nav__link" for="__nav_2" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_2" id="__nav_2_label" tabindex="0">
           Getting Started
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Getting Started" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_2_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_2">
           <span class="md-nav__icon md-icon"></span>
           Getting Started
@@ -435,25 +429,23 @@
 
   
   
-    
-  
   
     
-    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_3" type="checkbox" id="__nav_3" checked>
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_3" >
       
       
       
-        <label class="md-nav__link" for="__nav_3" tabindex="0" aria-expanded="true">
+        <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
           Decision & Planing
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Decision & Planing" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_3_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_3">
           <span class="md-nav__icon md-icon"></span>
           Decision & Planing
@@ -474,56 +466,6 @@
 
             
           
-            
-              
-  
-  
-    
-  
-  
-    <li class="md-nav__item md-nav__item--active">
-      
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
-      
-      
-      
-      <a href="./" class="md-nav__link md-nav__link--active">
-        Decision
-      </a>
-      
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../Planning/" class="md-nav__link">
-        Planning
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../Customization/" class="md-nav__link">
-        Customization
-      </a>
-    </li>
-  
-
-            
-          
         </ul>
       </nav>
     </li>
@@ -543,16 +485,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_4" type="checkbox" id="__nav_4" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_4" >
       
       
       
-        <label class="md-nav__link" for="__nav_4" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
           Analysis & Evaluation
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Analysis & Evaluation" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_4_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_4">
           <span class="md-nav__icon md-icon"></span>
           Analysis & Evaluation
@@ -629,6 +571,7 @@
   
 
 
+  <h1>Decision</h1>
 
 
 
@@ -648,42 +591,6 @@
         <footer class="md-footer">
   
     
-      
-      <nav class="md-footer__inner md-grid" aria-label="页脚" >
-        
-          
-          <a href="../Overview/" class="md-footer__link md-footer__link--prev" aria-label="上一页: Overview" rel="prev">
-            <div class="md-footer__button md-icon">
-              <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
-            </div>
-            <div class="md-footer__title">
-              <div class="md-ellipsis">
-                <span class="md-footer__direction">
-                  上一页
-                </span>
-                Overview
-              </div>
-            </div>
-          </a>
-        
-        
-          
-          <a href="../Planning/" class="md-footer__link md-footer__link--next" aria-label="下一页: Planning" rel="next">
-            <div class="md-footer__title">
-              <div class="md-ellipsis">
-                <span class="md-footer__direction">
-                  下一页
-                </span>
-                Planning
-              </div>
-            </div>
-            <div class="md-footer__button md-icon">
-              <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M4 11v2h12l-5.5 5.5 1.42 1.42L19.84 12l-7.92-7.92L10.5 5.5 16 11H4Z"/></svg>
-            </div>
-          </a>
-        
-      </nav>
-    
   
   <div class="md-footer-meta md-typeset">
     <div class="md-footer-meta__inner md-grid">
@@ -706,11 +613,11 @@
       <div class="md-dialog__inner md-typeset"></div>
     </div>
     
-    <script id="__config" type="application/json">{"base": "../../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../../assets/javascripts/workers/search.e5c33ebb.min.js", "translations": {"clipboard.copied": "\u5df2\u590d\u5236", "clipboard.copy": "\u590d\u5236", "search.result.more.one": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.more.other": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 # \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.none": "\u6ca1\u6709\u627e\u5230\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.one": "\u627e\u5230 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.other": "# \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.placeholder": "\u952e\u5165\u4ee5\u5f00\u59cb\u641c\u7d22", "search.result.term.missing": "\u7f3a\u5c11", "select.version": "\u9009\u62e9\u5f53\u524d\u7248\u672c"}}</script>
+    <script id="__config" type="application/json">{"base": "../../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../../assets/javascripts/workers/search.208ed371.min.js", "translations": {"clipboard.copied": "\u5df2\u590d\u5236", "clipboard.copy": "\u590d\u5236", "search.result.more.one": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.more.other": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 # \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.none": "\u6ca1\u6709\u627e\u5230\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.one": "\u627e\u5230 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.other": "# \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.placeholder": "\u952e\u5165\u4ee5\u5f00\u59cb\u641c\u7d22", "search.result.term.missing": "\u7f3a\u5c11", "select.version": "\u9009\u62e9\u5f53\u524d\u7248\u672c"}}</script>
     
     
 
-      <script src="../../../assets/javascripts/bundle.51d95adb.min.js"></script>
+      <script src="../../../assets/javascripts/bundle.efa0ade1.min.js"></script>
       
         <script src="https://polyfill.io/v3/polyfill.min.js?features=es6"></script>
       
diff --git a/zh/DecisionAndPlanning/Overview/index.html b/zh/DecisionAndPlanning/Overview/index.html
index a7d4141..8328d11 100644
--- a/zh/DecisionAndPlanning/Overview/index.html
+++ b/zh/DecisionAndPlanning/Overview/index.html
@@ -12,10 +12,10 @@
         <link rel="prev" href="../../GettingStarted/otherFunction/">
       
       
-        <link rel="next" href="../Decision/">
+        <link rel="next" href="../../AnalysisAndEvaluation/Database/">
       
       <link rel="icon" href="../../../assets/images/logo.svg">
-      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.0.5">
+      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.1.3">
     
     
       
@@ -23,10 +23,10 @@
       
     
     
-      <link rel="stylesheet" href="../../../assets/stylesheets/main.558e4712.min.css">
+      <link rel="stylesheet" href="../../../assets/stylesheets/main.c4a75a56.min.css">
       
         
-        <link rel="stylesheet" href="../../../assets/stylesheets/palette.2505c338.min.css">
+        <link rel="stylesheet" href="../../../assets/stylesheets/palette.a0c5b2b5.min.css">
       
       
 
@@ -182,7 +182,7 @@
         <a href="https://github.com/PJLab-ADG/LimSim.git" title="前往仓库" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -201,7 +201,7 @@
           
             
 <nav class="md-tabs" aria-label="标签" data-md-component="tabs">
-  <div class="md-tabs__inner md-grid">
+  <div class="md-grid">
     <ul class="md-tabs__list">
       
         
@@ -299,7 +299,7 @@
       <a href="https://github.com/PJLab-ADG/LimSim.git" title="前往仓库" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -337,16 +337,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_2" type="checkbox" id="__nav_2" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2" >
       
       
       
-        <label class="md-nav__link" for="__nav_2" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_2" id="__nav_2_label" tabindex="0">
           Getting Started
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Getting Started" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_2_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_2">
           <span class="md-nav__icon md-icon"></span>
           Getting Started
@@ -444,16 +444,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_3" type="checkbox" id="__nav_3" checked>
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_3" checked>
       
       
       
-        <label class="md-nav__link" for="__nav_3" tabindex="0" aria-expanded="true">
+        <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
           Decision & Planing
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Decision & Planing" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_3_label" aria-expanded="true">
         <label class="md-nav__title" for="__nav_3">
           <span class="md-nav__icon md-icon"></span>
           Decision & Planing
@@ -469,7 +469,7 @@
   
     <li class="md-nav__item md-nav__item--active">
       
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      <input class="md-nav__toggle md-toggle" type="checkbox" id="__toc">
       
       
       
@@ -482,48 +482,6 @@
 
             
           
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../Decision/" class="md-nav__link">
-        Decision
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../Planning/" class="md-nav__link">
-        Planning
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../Customization/" class="md-nav__link">
-        Customization
-      </a>
-    </li>
-  
-
-            
-          
         </ul>
       </nav>
     </li>
@@ -543,16 +501,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_4" type="checkbox" id="__nav_4" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_4" >
       
       
       
-        <label class="md-nav__link" for="__nav_4" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
           Analysis & Evaluation
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Analysis & Evaluation" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_4_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_4">
           <span class="md-nav__icon md-icon"></span>
           Analysis & Evaluation
@@ -629,6 +587,7 @@
   
 
 
+  <h1>Overview</h1>
 
 <p>LimSim中使用<code>TrafficManager</code>类来统一管理，这个类主要负责对于AOI范围内的车辆进行“预测-决策-规划”（PDP）流程，最终为每辆车生成一条合理、安全、符合运动学约束的轨迹。</p>
 <p>在使用时，我们需要首先初始化<code>TrafficManager</code>类，初始化需要的参数如下：</p>
@@ -717,13 +676,13 @@
         
         
           
-          <a href="../Decision/" class="md-footer__link md-footer__link--next" aria-label="下一页: Decision" rel="next">
+          <a href="../../AnalysisAndEvaluation/Database/" class="md-footer__link md-footer__link--next" aria-label="下一页: Database" rel="next">
             <div class="md-footer__title">
               <div class="md-ellipsis">
                 <span class="md-footer__direction">
                   下一页
                 </span>
-                Decision
+                Database
               </div>
             </div>
             <div class="md-footer__button md-icon">
@@ -755,11 +714,11 @@
       <div class="md-dialog__inner md-typeset"></div>
     </div>
     
-    <script id="__config" type="application/json">{"base": "../../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../../assets/javascripts/workers/search.e5c33ebb.min.js", "translations": {"clipboard.copied": "\u5df2\u590d\u5236", "clipboard.copy": "\u590d\u5236", "search.result.more.one": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.more.other": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 # \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.none": "\u6ca1\u6709\u627e\u5230\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.one": "\u627e\u5230 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.other": "# \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.placeholder": "\u952e\u5165\u4ee5\u5f00\u59cb\u641c\u7d22", "search.result.term.missing": "\u7f3a\u5c11", "select.version": "\u9009\u62e9\u5f53\u524d\u7248\u672c"}}</script>
+    <script id="__config" type="application/json">{"base": "../../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../../assets/javascripts/workers/search.208ed371.min.js", "translations": {"clipboard.copied": "\u5df2\u590d\u5236", "clipboard.copy": "\u590d\u5236", "search.result.more.one": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.more.other": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 # \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.none": "\u6ca1\u6709\u627e\u5230\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.one": "\u627e\u5230 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.other": "# \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.placeholder": "\u952e\u5165\u4ee5\u5f00\u59cb\u641c\u7d22", "search.result.term.missing": "\u7f3a\u5c11", "select.version": "\u9009\u62e9\u5f53\u524d\u7248\u672c"}}</script>
     
     
 
-      <script src="../../../assets/javascripts/bundle.51d95adb.min.js"></script>
+      <script src="../../../assets/javascripts/bundle.efa0ade1.min.js"></script>
       
         <script src="https://polyfill.io/v3/polyfill.min.js?features=es6"></script>
       
diff --git a/zh/DecisionAndPlanning/Planning/index.html b/zh/DecisionAndPlanning/Planning/index.html
index 80b0859..590752f 100644
--- a/zh/DecisionAndPlanning/Planning/index.html
+++ b/zh/DecisionAndPlanning/Planning/index.html
@@ -9,13 +9,9 @@
       
       
       
-        <link rel="prev" href="../Decision/">
-      
-      
-        <link rel="next" href="../Customization/">
       
       <link rel="icon" href="../../../assets/images/logo.svg">
-      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.0.5">
+      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.1.3">
     
     
       
@@ -23,10 +19,10 @@
       
     
     
-      <link rel="stylesheet" href="../../../assets/stylesheets/main.558e4712.min.css">
+      <link rel="stylesheet" href="../../../assets/stylesheets/main.c4a75a56.min.css">
       
         
-        <link rel="stylesheet" href="../../../assets/stylesheets/palette.2505c338.min.css">
+        <link rel="stylesheet" href="../../../assets/stylesheets/palette.a0c5b2b5.min.css">
       
       
 
@@ -182,7 +178,7 @@
         <a href="https://github.com/PJLab-ADG/LimSim.git" title="前往仓库" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -201,7 +197,7 @@
           
             
 <nav class="md-tabs" aria-label="标签" data-md-component="tabs">
-  <div class="md-tabs__inner md-grid">
+  <div class="md-grid">
     <ul class="md-tabs__list">
       
         
@@ -235,15 +231,13 @@
         
   
   
-    
-  
 
 
   
   
   
     <li class="md-tabs__item">
-      <a href="../Overview/" class="md-tabs__link md-tabs__link--active">
+      <a href="../Overview/" class="md-tabs__link">
         Decision & Planing
       </a>
     </li>
@@ -299,7 +293,7 @@
       <a href="https://github.com/PJLab-ADG/LimSim.git" title="前往仓库" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -337,16 +331,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_2" type="checkbox" id="__nav_2" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2" >
       
       
       
-        <label class="md-nav__link" for="__nav_2" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_2" id="__nav_2_label" tabindex="0">
           Getting Started
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Getting Started" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_2_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_2">
           <span class="md-nav__icon md-icon"></span>
           Getting Started
@@ -435,25 +429,23 @@
 
   
   
-    
-  
   
     
-    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_3" type="checkbox" id="__nav_3" checked>
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_3" >
       
       
       
-        <label class="md-nav__link" for="__nav_3" tabindex="0" aria-expanded="true">
+        <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
           Decision & Planing
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Decision & Planing" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_3_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_3">
           <span class="md-nav__icon md-icon"></span>
           Decision & Planing
@@ -474,56 +466,6 @@
 
             
           
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../Decision/" class="md-nav__link">
-        Decision
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-    
-  
-  
-    <li class="md-nav__item md-nav__item--active">
-      
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
-      
-      
-      
-      <a href="./" class="md-nav__link md-nav__link--active">
-        Planning
-      </a>
-      
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../Customization/" class="md-nav__link">
-        Customization
-      </a>
-    </li>
-  
-
-            
-          
         </ul>
       </nav>
     </li>
@@ -543,16 +485,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_4" type="checkbox" id="__nav_4" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_4" >
       
       
       
-        <label class="md-nav__link" for="__nav_4" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
           Analysis & Evaluation
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Analysis & Evaluation" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_4_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_4">
           <span class="md-nav__icon md-icon"></span>
           Analysis & Evaluation
@@ -629,6 +571,7 @@
   
 
 
+  <h1>Planning</h1>
 
 
 
@@ -648,42 +591,6 @@
         <footer class="md-footer">
   
     
-      
-      <nav class="md-footer__inner md-grid" aria-label="页脚" >
-        
-          
-          <a href="../Decision/" class="md-footer__link md-footer__link--prev" aria-label="上一页: Decision" rel="prev">
-            <div class="md-footer__button md-icon">
-              <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
-            </div>
-            <div class="md-footer__title">
-              <div class="md-ellipsis">
-                <span class="md-footer__direction">
-                  上一页
-                </span>
-                Decision
-              </div>
-            </div>
-          </a>
-        
-        
-          
-          <a href="../Customization/" class="md-footer__link md-footer__link--next" aria-label="下一页: Customization" rel="next">
-            <div class="md-footer__title">
-              <div class="md-ellipsis">
-                <span class="md-footer__direction">
-                  下一页
-                </span>
-                Customization
-              </div>
-            </div>
-            <div class="md-footer__button md-icon">
-              <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M4 11v2h12l-5.5 5.5 1.42 1.42L19.84 12l-7.92-7.92L10.5 5.5 16 11H4Z"/></svg>
-            </div>
-          </a>
-        
-      </nav>
-    
   
   <div class="md-footer-meta md-typeset">
     <div class="md-footer-meta__inner md-grid">
@@ -706,11 +613,11 @@
       <div class="md-dialog__inner md-typeset"></div>
     </div>
     
-    <script id="__config" type="application/json">{"base": "../../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../../assets/javascripts/workers/search.e5c33ebb.min.js", "translations": {"clipboard.copied": "\u5df2\u590d\u5236", "clipboard.copy": "\u590d\u5236", "search.result.more.one": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.more.other": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 # \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.none": "\u6ca1\u6709\u627e\u5230\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.one": "\u627e\u5230 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.other": "# \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.placeholder": "\u952e\u5165\u4ee5\u5f00\u59cb\u641c\u7d22", "search.result.term.missing": "\u7f3a\u5c11", "select.version": "\u9009\u62e9\u5f53\u524d\u7248\u672c"}}</script>
+    <script id="__config" type="application/json">{"base": "../../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../../assets/javascripts/workers/search.208ed371.min.js", "translations": {"clipboard.copied": "\u5df2\u590d\u5236", "clipboard.copy": "\u590d\u5236", "search.result.more.one": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.more.other": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 # \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.none": "\u6ca1\u6709\u627e\u5230\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.one": "\u627e\u5230 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.other": "# \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.placeholder": "\u952e\u5165\u4ee5\u5f00\u59cb\u641c\u7d22", "search.result.term.missing": "\u7f3a\u5c11", "select.version": "\u9009\u62e9\u5f53\u524d\u7248\u672c"}}</script>
     
     
 
-      <script src="../../../assets/javascripts/bundle.51d95adb.min.js"></script>
+      <script src="../../../assets/javascripts/bundle.efa0ade1.min.js"></script>
       
         <script src="https://polyfill.io/v3/polyfill.min.js?features=es6"></script>
       
diff --git a/zh/GettingStarted/carla_cosim/index.html b/zh/GettingStarted/carla_cosim/index.html
index 42e9d6d..a664443 100644
--- a/zh/GettingStarted/carla_cosim/index.html
+++ b/zh/GettingStarted/carla_cosim/index.html
@@ -15,7 +15,7 @@
         <link rel="next" href="../otherFunction/">
       
       <link rel="icon" href="../../../assets/images/logo.svg">
-      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.0.5">
+      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.1.3">
     
     
       
@@ -23,10 +23,10 @@
       
     
     
-      <link rel="stylesheet" href="../../../assets/stylesheets/main.558e4712.min.css">
+      <link rel="stylesheet" href="../../../assets/stylesheets/main.c4a75a56.min.css">
       
         
-        <link rel="stylesheet" href="../../../assets/stylesheets/palette.2505c338.min.css">
+        <link rel="stylesheet" href="../../../assets/stylesheets/palette.a0c5b2b5.min.css">
       
       
 
@@ -187,7 +187,7 @@
         <a href="https://github.com/PJLab-ADG/LimSim.git" title="前往仓库" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -206,7 +206,7 @@
           
             
 <nav class="md-tabs" aria-label="标签" data-md-component="tabs">
-  <div class="md-tabs__inner md-grid">
+  <div class="md-grid">
     <ul class="md-tabs__list">
       
         
@@ -304,7 +304,7 @@
       <a href="https://github.com/PJLab-ADG/LimSim.git" title="前往仓库" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -344,16 +344,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_2" type="checkbox" id="__nav_2" checked>
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2" checked>
       
       
       
-        <label class="md-nav__link" for="__nav_2" tabindex="0" aria-expanded="true">
+        <label class="md-nav__link" for="__nav_2" id="__nav_2_label" tabindex="0">
           Getting Started
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Getting Started" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_2_label" aria-expanded="true">
         <label class="md-nav__title" for="__nav_2">
           <span class="md-nav__icon md-icon"></span>
           Getting Started
@@ -411,7 +411,7 @@
   
     <li class="md-nav__item md-nav__item--active">
       
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      <input class="md-nav__toggle md-toggle" type="checkbox" id="__toc">
       
       
       
@@ -516,16 +516,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_3" type="checkbox" id="__nav_3" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_3" >
       
       
       
-        <label class="md-nav__link" for="__nav_3" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
           Decision & Planing
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Decision & Planing" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_3_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_3">
           <span class="md-nav__icon md-icon"></span>
           Decision & Planing
@@ -546,48 +546,6 @@
 
             
           
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Decision/" class="md-nav__link">
-        Decision
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Planning/" class="md-nav__link">
-        Planning
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Customization/" class="md-nav__link">
-        Customization
-      </a>
-    </li>
-  
-
-            
-          
         </ul>
       </nav>
     </li>
@@ -607,16 +565,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_4" type="checkbox" id="__nav_4" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_4" >
       
       
       
-        <label class="md-nav__link" for="__nav_4" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
           Analysis & Evaluation
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Analysis & Evaluation" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_4_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_4">
           <span class="md-nav__icon md-icon"></span>
           Analysis & Evaluation
@@ -736,7 +694,6 @@
   
 
 
-
   <h1>LimSim, SUMO, CARLA Co-Simulation</h1>
 
 <h2 id="limsim-sumo-carla">LimSim, SUMO, CARLA 协同仿真<a class="headerlink" href="#limsim-sumo-carla" title="Permanent link">&para;</a></h2>
@@ -790,7 +747,7 @@ <h2 id="1-carla">步骤 1：运行 CARLA 联合仿真<a class="headerlink" href=
 <div class="highlight"><pre><span></span><code><a id="__codelineno-3-1" name="__codelineno-3-1" href="#__codelineno-3-1"></a><span class="c1"># 终端 2 </span>
 <a id="__codelineno-3-2" name="__codelineno-3-2" href="#__codelineno-3-2"></a><span class="nb">cd</span><span class="w"> </span>../..<span class="w"> </span><span class="c1"># 回到 carla 根目录 </span>
 <a id="__codelineno-3-3" name="__codelineno-3-3" href="#__codelineno-3-3"></a><span class="nb">cd</span><span class="w"> </span>Co-Simulation/Sumo<span class="w"> </span>
-<a id="__codelineno-3-4" name="__codelineno-3-4" href="#__codelineno-3-4"></a>python3<span class="w"> </span>run_synchronization.py<span class="w"> </span>examples/Town05.sumocfg<span class="w"> </span>--sumo-host<span class="w"> </span><span class="m">127</span>.0.0.1<span class="w"> </span>--sumo-port<span class="w"> </span><span class="m">8813</span><span class="w"> </span>--client-order<span class="w"> </span><span class="m">2</span>
+<a id="__codelineno-3-4" name="__codelineno-3-4" href="#__codelineno-3-4"></a>python3<span class="w"> </span>run_synchronization.py<span class="w"> </span>examples/Town05.sumocfg<span class="w"> </span>--sumo-host<span class="w"> </span><span class="m">127</span>.0.0.1<span class="w"> </span>--sumo-port<span class="w"> </span><span class="m">8813</span>
 </code></pre></div>
 <p>终端应持续输出 <code>Could not connect to TraCI server at 127.0.0.1:8813 [Errno 111] Connection refused Retrying in 1 seconds</code>，不要担心，这意味着您的设置都已完成。现在继续下一步！</p>
 <h2 id="2-limsim">步骤 2：运行 LimSim 联合仿真<a class="headerlink" href="#2-limsim" title="Permanent link">&para;</a></h2>
@@ -885,11 +842,11 @@ <h2 id="3-carla">步骤 3：（可选）在 CARLA 中更改鸟瞰视图<a class=
       <div class="md-dialog__inner md-typeset"></div>
     </div>
     
-    <script id="__config" type="application/json">{"base": "../../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../../assets/javascripts/workers/search.e5c33ebb.min.js", "translations": {"clipboard.copied": "\u5df2\u590d\u5236", "clipboard.copy": "\u590d\u5236", "search.result.more.one": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.more.other": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 # \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.none": "\u6ca1\u6709\u627e\u5230\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.one": "\u627e\u5230 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.other": "# \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.placeholder": "\u952e\u5165\u4ee5\u5f00\u59cb\u641c\u7d22", "search.result.term.missing": "\u7f3a\u5c11", "select.version": "\u9009\u62e9\u5f53\u524d\u7248\u672c"}}</script>
+    <script id="__config" type="application/json">{"base": "../../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../../assets/javascripts/workers/search.208ed371.min.js", "translations": {"clipboard.copied": "\u5df2\u590d\u5236", "clipboard.copy": "\u590d\u5236", "search.result.more.one": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.more.other": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 # \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.none": "\u6ca1\u6709\u627e\u5230\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.one": "\u627e\u5230 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.other": "# \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.placeholder": "\u952e\u5165\u4ee5\u5f00\u59cb\u641c\u7d22", "search.result.term.missing": "\u7f3a\u5c11", "select.version": "\u9009\u62e9\u5f53\u524d\u7248\u672c"}}</script>
     
     
 
-      <script src="../../../assets/javascripts/bundle.51d95adb.min.js"></script>
+      <script src="../../../assets/javascripts/bundle.efa0ade1.min.js"></script>
       
         <script src="https://polyfill.io/v3/polyfill.min.js?features=es6"></script>
       
diff --git a/zh/GettingStarted/installDeploy/index.html b/zh/GettingStarted/installDeploy/index.html
index 75898c2..05f5a2e 100644
--- a/zh/GettingStarted/installDeploy/index.html
+++ b/zh/GettingStarted/installDeploy/index.html
@@ -15,7 +15,7 @@
         <link rel="next" href="../realtimeSim/">
       
       <link rel="icon" href="../../../assets/images/logo.svg">
-      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.0.5">
+      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.1.3">
     
     
       
@@ -23,10 +23,10 @@
       
     
     
-      <link rel="stylesheet" href="../../../assets/stylesheets/main.558e4712.min.css">
+      <link rel="stylesheet" href="../../../assets/stylesheets/main.c4a75a56.min.css">
       
         
-        <link rel="stylesheet" href="../../../assets/stylesheets/palette.2505c338.min.css">
+        <link rel="stylesheet" href="../../../assets/stylesheets/palette.a0c5b2b5.min.css">
       
       
 
@@ -187,7 +187,7 @@
         <a href="https://github.com/PJLab-ADG/LimSim.git" title="前往仓库" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -206,7 +206,7 @@
           
             
 <nav class="md-tabs" aria-label="标签" data-md-component="tabs">
-  <div class="md-tabs__inner md-grid">
+  <div class="md-grid">
     <ul class="md-tabs__list">
       
         
@@ -304,7 +304,7 @@
       <a href="https://github.com/PJLab-ADG/LimSim.git" title="前往仓库" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -344,16 +344,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_2" type="checkbox" id="__nav_2" checked>
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2" checked>
       
       
       
-        <label class="md-nav__link" for="__nav_2" tabindex="0" aria-expanded="true">
+        <label class="md-nav__link" for="__nav_2" id="__nav_2_label" tabindex="0">
           Getting Started
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Getting Started" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_2_label" aria-expanded="true">
         <label class="md-nav__title" for="__nav_2">
           <span class="md-nav__icon md-icon"></span>
           Getting Started
@@ -369,7 +369,7 @@
   
     <li class="md-nav__item md-nav__item--active">
       
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      <input class="md-nav__toggle md-toggle" type="checkbox" id="__toc">
       
       
       
@@ -495,16 +495,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_3" type="checkbox" id="__nav_3" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_3" >
       
       
       
-        <label class="md-nav__link" for="__nav_3" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
           Decision & Planing
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Decision & Planing" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_3_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_3">
           <span class="md-nav__icon md-icon"></span>
           Decision & Planing
@@ -525,48 +525,6 @@
 
             
           
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Decision/" class="md-nav__link">
-        Decision
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Planning/" class="md-nav__link">
-        Planning
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Customization/" class="md-nav__link">
-        Customization
-      </a>
-    </li>
-  
-
-            
-          
         </ul>
       </nav>
     </li>
@@ -586,16 +544,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_4" type="checkbox" id="__nav_4" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_4" >
       
       
       
-        <label class="md-nav__link" for="__nav_4" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
           Analysis & Evaluation
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Analysis & Evaluation" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_4_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_4">
           <span class="md-nav__icon md-icon"></span>
           Analysis & Evaluation
@@ -694,7 +652,6 @@
   
 
 
-
   <h1>Installation & Deployment</h1>
 
 <p>LimSim 是一款面向决策-规划算法测试的微观仿真软件，可以进行宏微观一体的长时仿真。</p>
@@ -793,11 +750,11 @@ <h2 id="_2">仿真示例<a class="headerlink" href="#_2" title="Permanent link">
       <div class="md-dialog__inner md-typeset"></div>
     </div>
     
-    <script id="__config" type="application/json">{"base": "../../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../../assets/javascripts/workers/search.e5c33ebb.min.js", "translations": {"clipboard.copied": "\u5df2\u590d\u5236", "clipboard.copy": "\u590d\u5236", "search.result.more.one": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.more.other": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 # \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.none": "\u6ca1\u6709\u627e\u5230\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.one": "\u627e\u5230 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.other": "# \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.placeholder": "\u952e\u5165\u4ee5\u5f00\u59cb\u641c\u7d22", "search.result.term.missing": "\u7f3a\u5c11", "select.version": "\u9009\u62e9\u5f53\u524d\u7248\u672c"}}</script>
+    <script id="__config" type="application/json">{"base": "../../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../../assets/javascripts/workers/search.208ed371.min.js", "translations": {"clipboard.copied": "\u5df2\u590d\u5236", "clipboard.copy": "\u590d\u5236", "search.result.more.one": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.more.other": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 # \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.none": "\u6ca1\u6709\u627e\u5230\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.one": "\u627e\u5230 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.other": "# \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.placeholder": "\u952e\u5165\u4ee5\u5f00\u59cb\u641c\u7d22", "search.result.term.missing": "\u7f3a\u5c11", "select.version": "\u9009\u62e9\u5f53\u524d\u7248\u672c"}}</script>
     
     
 
-      <script src="../../../assets/javascripts/bundle.51d95adb.min.js"></script>
+      <script src="../../../assets/javascripts/bundle.efa0ade1.min.js"></script>
       
         <script src="https://polyfill.io/v3/polyfill.min.js?features=es6"></script>
       
diff --git a/zh/GettingStarted/otherFunction/index.html b/zh/GettingStarted/otherFunction/index.html
index 2402b65..535139b 100644
--- a/zh/GettingStarted/otherFunction/index.html
+++ b/zh/GettingStarted/otherFunction/index.html
@@ -15,7 +15,7 @@
         <link rel="next" href="../../DecisionAndPlanning/Overview/">
       
       <link rel="icon" href="../../../assets/images/logo.svg">
-      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.0.5">
+      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.1.3">
     
     
       
@@ -23,10 +23,10 @@
       
     
     
-      <link rel="stylesheet" href="../../../assets/stylesheets/main.558e4712.min.css">
+      <link rel="stylesheet" href="../../../assets/stylesheets/main.c4a75a56.min.css">
       
         
-        <link rel="stylesheet" href="../../../assets/stylesheets/palette.2505c338.min.css">
+        <link rel="stylesheet" href="../../../assets/stylesheets/palette.a0c5b2b5.min.css">
       
       
 
@@ -187,7 +187,7 @@
         <a href="https://github.com/PJLab-ADG/LimSim.git" title="前往仓库" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -206,7 +206,7 @@
           
             
 <nav class="md-tabs" aria-label="标签" data-md-component="tabs">
-  <div class="md-tabs__inner md-grid">
+  <div class="md-grid">
     <ul class="md-tabs__list">
       
         
@@ -304,7 +304,7 @@
       <a href="https://github.com/PJLab-ADG/LimSim.git" title="前往仓库" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -344,16 +344,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_2" type="checkbox" id="__nav_2" checked>
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2" checked>
       
       
       
-        <label class="md-nav__link" for="__nav_2" tabindex="0" aria-expanded="true">
+        <label class="md-nav__link" for="__nav_2" id="__nav_2_label" tabindex="0">
           Getting Started
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Getting Started" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_2_label" aria-expanded="true">
         <label class="md-nav__title" for="__nav_2">
           <span class="md-nav__icon md-icon"></span>
           Getting Started
@@ -425,7 +425,7 @@
   
     <li class="md-nav__item md-nav__item--active">
       
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      <input class="md-nav__toggle md-toggle" type="checkbox" id="__toc">
       
       
       
@@ -502,16 +502,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_3" type="checkbox" id="__nav_3" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_3" >
       
       
       
-        <label class="md-nav__link" for="__nav_3" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
           Decision & Planing
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Decision & Planing" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_3_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_3">
           <span class="md-nav__icon md-icon"></span>
           Decision & Planing
@@ -532,48 +532,6 @@
 
             
           
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Decision/" class="md-nav__link">
-        Decision
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Planning/" class="md-nav__link">
-        Planning
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Customization/" class="md-nav__link">
-        Customization
-      </a>
-    </li>
-  
-
-            
-          
         </ul>
       </nav>
     </li>
@@ -593,16 +551,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_4" type="checkbox" id="__nav_4" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_4" >
       
       
       
-        <label class="md-nav__link" for="__nav_4" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
           Analysis & Evaluation
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Analysis & Evaluation" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_4_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_4">
           <span class="md-nav__icon md-icon"></span>
           Analysis & Evaluation
@@ -708,7 +666,6 @@
   
 
 
-
   <h1>Other Functions</h1>
 
 <p>为适应不同的任务需求，LimSim 还提供了一些额外的功能，详情如下。</p>
@@ -796,11 +753,11 @@ <h2 id="_3">仿真汇报<a class="headerlink" href="#_3" title="Permanent link">
       <div class="md-dialog__inner md-typeset"></div>
     </div>
     
-    <script id="__config" type="application/json">{"base": "../../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../../assets/javascripts/workers/search.e5c33ebb.min.js", "translations": {"clipboard.copied": "\u5df2\u590d\u5236", "clipboard.copy": "\u590d\u5236", "search.result.more.one": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.more.other": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 # \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.none": "\u6ca1\u6709\u627e\u5230\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.one": "\u627e\u5230 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.other": "# \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.placeholder": "\u952e\u5165\u4ee5\u5f00\u59cb\u641c\u7d22", "search.result.term.missing": "\u7f3a\u5c11", "select.version": "\u9009\u62e9\u5f53\u524d\u7248\u672c"}}</script>
+    <script id="__config" type="application/json">{"base": "../../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../../assets/javascripts/workers/search.208ed371.min.js", "translations": {"clipboard.copied": "\u5df2\u590d\u5236", "clipboard.copy": "\u590d\u5236", "search.result.more.one": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.more.other": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 # \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.none": "\u6ca1\u6709\u627e\u5230\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.one": "\u627e\u5230 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.other": "# \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.placeholder": "\u952e\u5165\u4ee5\u5f00\u59cb\u641c\u7d22", "search.result.term.missing": "\u7f3a\u5c11", "select.version": "\u9009\u62e9\u5f53\u524d\u7248\u672c"}}</script>
     
     
 
-      <script src="../../../assets/javascripts/bundle.51d95adb.min.js"></script>
+      <script src="../../../assets/javascripts/bundle.efa0ade1.min.js"></script>
       
         <script src="https://polyfill.io/v3/polyfill.min.js?features=es6"></script>
       
diff --git a/zh/GettingStarted/realtimeSim/index.html b/zh/GettingStarted/realtimeSim/index.html
index 630d1a2..1f0e6f0 100644
--- a/zh/GettingStarted/realtimeSim/index.html
+++ b/zh/GettingStarted/realtimeSim/index.html
@@ -15,7 +15,7 @@
         <link rel="next" href="../replayAndIreplay/">
       
       <link rel="icon" href="../../../assets/images/logo.svg">
-      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.0.5">
+      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.1.3">
     
     
       
@@ -23,10 +23,10 @@
       
     
     
-      <link rel="stylesheet" href="../../../assets/stylesheets/main.558e4712.min.css">
+      <link rel="stylesheet" href="../../../assets/stylesheets/main.c4a75a56.min.css">
       
         
-        <link rel="stylesheet" href="../../../assets/stylesheets/palette.2505c338.min.css">
+        <link rel="stylesheet" href="../../../assets/stylesheets/palette.a0c5b2b5.min.css">
       
       
 
@@ -187,7 +187,7 @@
         <a href="https://github.com/PJLab-ADG/LimSim.git" title="前往仓库" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -206,7 +206,7 @@
           
             
 <nav class="md-tabs" aria-label="标签" data-md-component="tabs">
-  <div class="md-tabs__inner md-grid">
+  <div class="md-grid">
     <ul class="md-tabs__list">
       
         
@@ -304,7 +304,7 @@
       <a href="https://github.com/PJLab-ADG/LimSim.git" title="前往仓库" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -344,16 +344,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_2" type="checkbox" id="__nav_2" checked>
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2" checked>
       
       
       
-        <label class="md-nav__link" for="__nav_2" tabindex="0" aria-expanded="true">
+        <label class="md-nav__link" for="__nav_2" id="__nav_2_label" tabindex="0">
           Getting Started
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Getting Started" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_2_label" aria-expanded="true">
         <label class="md-nav__title" for="__nav_2">
           <span class="md-nav__icon md-icon"></span>
           Getting Started
@@ -383,7 +383,7 @@
   
     <li class="md-nav__item md-nav__item--active">
       
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      <input class="md-nav__toggle md-toggle" type="checkbox" id="__toc">
       
       
       
@@ -495,16 +495,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_3" type="checkbox" id="__nav_3" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_3" >
       
       
       
-        <label class="md-nav__link" for="__nav_3" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
           Decision & Planing
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Decision & Planing" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_3_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_3">
           <span class="md-nav__icon md-icon"></span>
           Decision & Planing
@@ -525,48 +525,6 @@
 
             
           
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Decision/" class="md-nav__link">
-        Decision
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Planning/" class="md-nav__link">
-        Planning
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Customization/" class="md-nav__link">
-        Customization
-      </a>
-    </li>
-  
-
-            
-          
         </ul>
       </nav>
     </li>
@@ -586,16 +544,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_4" type="checkbox" id="__nav_4" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_4" >
       
       
       
-        <label class="md-nav__link" for="__nav_4" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
           Analysis & Evaluation
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Analysis & Evaluation" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_4_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_4">
           <span class="md-nav__icon md-icon"></span>
           Analysis & Evaluation
@@ -694,7 +652,6 @@
   
 
 
-
   <h1>Real-time Simulation</h1>
 
 <p>跟随 Ego 的实时仿真是 LimSim 的基础功能，运行下面的指令，体验一下：</p>
@@ -774,9 +731,9 @@ <h2 id="_2">示例分析<a class="headerlink" href="#_2" title="Permanent link">
 <li>如果不再控制 Ego，记得将控制权交还给 SUMO。</li>
 </ol>
 <p>程序的第 8 行是模型的初始化，主要的参数有 <code>egoID</code> ，用来指定的 Ego car 的 ID。这里我们使用 SUMO 进行环境交通流的管理，路网中所有车辆的路径信息实际上是被定义在 <code>Town05.rou.xml</code> 中的。因此你可以查看这个文件，选择喜欢的一辆车作为 Ego car，或者你可以参考 <a href="https://sumo.dlr.de/docs/Definition_of_Vehicles%2C_Vehicle_Types%2C_and_Routes.html#vehicles_and_routes"><img alt="🔗" class="twemoji" src="https://cdnjs.cloudflare.com/ajax/libs/twemoji/14.0.2/svg/1f517.svg" title=":link:" />自定义车辆和路径</a>来生成特定路径的车辆来进行模型的仿真和算法的测试。然后是仿真使用的路网路网文件 <code>netFile</code> 和路径文件 <code>rouFile</code> ，这些文件的生成和定义请参考 <a href="https://sumo.dlr.de/docs/index.html"><img alt="🔗" class="twemoji" src="https://cdnjs.cloudflare.com/ajax/libs/twemoji/14.0.2/svg/1f517.svg" title=":link:" />SUMO 的文档</a>。<code>dataBase</code> 为记录仿真数据的数据库，字符串类型。</p>
-<p>第 15 行是轨迹规划算法的初始化，包括轨迹预测、决策、规划等多个模块。这里使用了 LimSim 实现的基础版本（默认参数），用以控制 AoI 中的车辆，你也可以替换其中任何一个环节为你自己的算法，具体的自定义方法请参考 <a href="../../DecisionAndPlanning/Customization/"><img alt="📖" class="twemoji" src="https://cdnjs.cloudflare.com/ajax/libs/twemoji/14.0.2/svg/1f4d6.svg" title=":book:" />自定义算法</a>。</p>
+<p>第 15 行是轨迹规划算法的初始化，包括轨迹预测、决策、规划等多个模块。这里使用了 LimSim 实现的基础版本（默认参数），用以控制 AoI 中的车辆，你也可以替换其中任何一个环节为你自己的算法。</p>
 <p>17 行开始是程序运行的主要环节，<code>model.tpEnd</code> 是布尔变量，用来表征 Ego 是否到达终点，即程序是否结束。<code>model.moveStep()</code> 和 <code>model.updateVeh()</code> 是仿真更新的流程，前者用于获取所有交通参与者的信息，后者用于更新（控制）所有交通参与者的信息。因此在两者之间，可以用轨迹规划算法控制 AoI 中的车辆。</p>
-<p>由于轨迹规划算法通常比较耗时，而且一次规划可以给出未来多帧的轨迹，所以我们可以每 5 帧进行一次轨迹规划，即 <code>if model.timeStep % 5 == 0:</code>。然后，由 <code>roadgraph, vehicles = model.exportSce()</code> 获得当前时刻 Ego 附近的场景。其中，<code>roadgraph</code> 为 Ego 周围的路网信息，<code>vehicles</code> 为 Ego 周围车辆的信息，这些信息的使用方法可以参考 XXXXX。轨迹规划算法返回的轨迹则通过 <code>model.setTrajectories()</code> 传回仿真中。</p>
+<p>由于轨迹规划算法通常比较耗时，而且一次规划可以给出未来多帧的轨迹，所以我们可以每 5 帧进行一次轨迹规划，即 <code>if model.timeStep % 5 == 0:</code>。然后，由 <code>roadgraph, vehicles = model.exportSce()</code> 获得当前时刻 Ego 附近的场景。其中，<code>roadgraph</code> 为 Ego 周围的路网信息，<code>vehicles</code> 为 Ego 周围车辆的信息。轨迹规划算法返回的轨迹则通过 <code>model.setTrajectories()</code> 传回仿真中。</p>
 <p>上述仿真运行完成后，会将仿真过程中所有的数据存放在 <code>egoTrackingTest.db</code> 中，供回放和分析所用，关于数据库的介绍，可以参考<a href="../../AnalysisAndEvaluation/Database/"><img alt="📖" class="twemoji" src="https://cdnjs.cloudflare.com/ajax/libs/twemoji/14.0.2/svg/1f4d6.svg" title=":book:" />数据库</a>。</p>
 
 
@@ -853,11 +810,11 @@ <h2 id="_2">示例分析<a class="headerlink" href="#_2" title="Permanent link">
       <div class="md-dialog__inner md-typeset"></div>
     </div>
     
-    <script id="__config" type="application/json">{"base": "../../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../../assets/javascripts/workers/search.e5c33ebb.min.js", "translations": {"clipboard.copied": "\u5df2\u590d\u5236", "clipboard.copy": "\u590d\u5236", "search.result.more.one": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.more.other": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 # \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.none": "\u6ca1\u6709\u627e\u5230\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.one": "\u627e\u5230 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.other": "# \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.placeholder": "\u952e\u5165\u4ee5\u5f00\u59cb\u641c\u7d22", "search.result.term.missing": "\u7f3a\u5c11", "select.version": "\u9009\u62e9\u5f53\u524d\u7248\u672c"}}</script>
+    <script id="__config" type="application/json">{"base": "../../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../../assets/javascripts/workers/search.208ed371.min.js", "translations": {"clipboard.copied": "\u5df2\u590d\u5236", "clipboard.copy": "\u590d\u5236", "search.result.more.one": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.more.other": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 # \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.none": "\u6ca1\u6709\u627e\u5230\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.one": "\u627e\u5230 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.other": "# \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.placeholder": "\u952e\u5165\u4ee5\u5f00\u59cb\u641c\u7d22", "search.result.term.missing": "\u7f3a\u5c11", "select.version": "\u9009\u62e9\u5f53\u524d\u7248\u672c"}}</script>
     
     
 
-      <script src="../../../assets/javascripts/bundle.51d95adb.min.js"></script>
+      <script src="../../../assets/javascripts/bundle.efa0ade1.min.js"></script>
       
         <script src="https://polyfill.io/v3/polyfill.min.js?features=es6"></script>
       
diff --git a/zh/GettingStarted/replayAndIreplay/index.html b/zh/GettingStarted/replayAndIreplay/index.html
index 74c02a4..df29140 100644
--- a/zh/GettingStarted/replayAndIreplay/index.html
+++ b/zh/GettingStarted/replayAndIreplay/index.html
@@ -15,7 +15,7 @@
         <link rel="next" href="../carla_cosim/">
       
       <link rel="icon" href="../../../assets/images/logo.svg">
-      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.0.5">
+      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.1.3">
     
     
       
@@ -23,10 +23,10 @@
       
     
     
-      <link rel="stylesheet" href="../../../assets/stylesheets/main.558e4712.min.css">
+      <link rel="stylesheet" href="../../../assets/stylesheets/main.c4a75a56.min.css">
       
         
-        <link rel="stylesheet" href="../../../assets/stylesheets/palette.2505c338.min.css">
+        <link rel="stylesheet" href="../../../assets/stylesheets/palette.a0c5b2b5.min.css">
       
       
 
@@ -187,7 +187,7 @@
         <a href="https://github.com/PJLab-ADG/LimSim.git" title="前往仓库" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -206,7 +206,7 @@
           
             
 <nav class="md-tabs" aria-label="标签" data-md-component="tabs">
-  <div class="md-tabs__inner md-grid">
+  <div class="md-grid">
     <ul class="md-tabs__list">
       
         
@@ -304,7 +304,7 @@
       <a href="https://github.com/PJLab-ADG/LimSim.git" title="前往仓库" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -344,16 +344,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_2" type="checkbox" id="__nav_2" checked>
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2" checked>
       
       
       
-        <label class="md-nav__link" for="__nav_2" tabindex="0" aria-expanded="true">
+        <label class="md-nav__link" for="__nav_2" id="__nav_2_label" tabindex="0">
           Getting Started
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Getting Started" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_2_label" aria-expanded="true">
         <label class="md-nav__title" for="__nav_2">
           <span class="md-nav__icon md-icon"></span>
           Getting Started
@@ -397,7 +397,7 @@
   
     <li class="md-nav__item md-nav__item--active">
       
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      <input class="md-nav__toggle md-toggle" type="checkbox" id="__toc">
       
       
       
@@ -528,16 +528,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_3" type="checkbox" id="__nav_3" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_3" >
       
       
       
-        <label class="md-nav__link" for="__nav_3" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
           Decision & Planing
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Decision & Planing" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_3_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_3">
           <span class="md-nav__icon md-icon"></span>
           Decision & Planing
@@ -558,48 +558,6 @@
 
             
           
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Decision/" class="md-nav__link">
-        Decision
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Planning/" class="md-nav__link">
-        Planning
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="../../DecisionAndPlanning/Customization/" class="md-nav__link">
-        Customization
-      </a>
-    </li>
-  
-
-            
-          
         </ul>
       </nav>
     </li>
@@ -619,16 +577,16 @@
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_4" type="checkbox" id="__nav_4" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_4" >
       
       
       
-        <label class="md-nav__link" for="__nav_4" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
           Analysis & Evaluation
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Analysis & Evaluation" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_4_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_4">
           <span class="md-nav__icon md-icon"></span>
           Analysis & Evaluation
@@ -760,7 +718,6 @@
   
 
 
-
   <h1>Replay & Interactive Replay</h1>
 
 <p>回放是仿真程序的重要功能，可以帮助我们深入分析危险场景和失败场景产生的原因，从而优化相关算法。LimSim 同样提供了回放功能，可以对实时仿真生成的数据进行回放。在此基础上，我们提供了交互式回放功能，帮助算法在关键场景上进行更新迭代。</p>
@@ -914,11 +871,11 @@ <h3 id="_5">仿真示例<a class="headerlink" href="#_5" title="Permanent link">
       <div class="md-dialog__inner md-typeset"></div>
     </div>
     
-    <script id="__config" type="application/json">{"base": "../../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../../assets/javascripts/workers/search.e5c33ebb.min.js", "translations": {"clipboard.copied": "\u5df2\u590d\u5236", "clipboard.copy": "\u590d\u5236", "search.result.more.one": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.more.other": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 # \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.none": "\u6ca1\u6709\u627e\u5230\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.one": "\u627e\u5230 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.other": "# \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.placeholder": "\u952e\u5165\u4ee5\u5f00\u59cb\u641c\u7d22", "search.result.term.missing": "\u7f3a\u5c11", "select.version": "\u9009\u62e9\u5f53\u524d\u7248\u672c"}}</script>
+    <script id="__config" type="application/json">{"base": "../../..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../../../assets/javascripts/workers/search.208ed371.min.js", "translations": {"clipboard.copied": "\u5df2\u590d\u5236", "clipboard.copy": "\u590d\u5236", "search.result.more.one": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.more.other": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 # \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.none": "\u6ca1\u6709\u627e\u5230\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.one": "\u627e\u5230 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.other": "# \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.placeholder": "\u952e\u5165\u4ee5\u5f00\u59cb\u641c\u7d22", "search.result.term.missing": "\u7f3a\u5c11", "select.version": "\u9009\u62e9\u5f53\u524d\u7248\u672c"}}</script>
     
     
 
-      <script src="../../../assets/javascripts/bundle.51d95adb.min.js"></script>
+      <script src="../../../assets/javascripts/bundle.efa0ade1.min.js"></script>
       
         <script src="https://polyfill.io/v3/polyfill.min.js?features=es6"></script>
       
diff --git a/zh/index.html b/zh/index.html
index 3f92b63..803b645 100644
--- a/zh/index.html
+++ b/zh/index.html
@@ -13,7 +13,7 @@
         <link rel="next" href="GettingStarted/installDeploy/">
       
       <link rel="icon" href="../assets/images/logo.svg">
-      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.0.5">
+      <meta name="generator" content="mkdocs-1.4.2, mkdocs-material-9.1.3">
     
     
       
@@ -21,10 +21,10 @@
       
     
     
-      <link rel="stylesheet" href="../assets/stylesheets/main.558e4712.min.css">
+      <link rel="stylesheet" href="../assets/stylesheets/main.c4a75a56.min.css">
       
         
-        <link rel="stylesheet" href="../assets/stylesheets/palette.2505c338.min.css">
+        <link rel="stylesheet" href="../assets/stylesheets/palette.a0c5b2b5.min.css">
       
       
 
@@ -180,7 +180,7 @@
         <a href="https://github.com/PJLab-ADG/LimSim.git" title="前往仓库" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -200,7 +200,7 @@
           
             
 <nav class="md-tabs" aria-label="标签" data-md-component="tabs">
-  <div class="md-tabs__inner md-grid">
+  <div class="md-grid">
     <ul class="md-tabs__list">
       
         
@@ -306,13 +306,51 @@
       <div class="mdx-hero__content" style="padding-bottom: 1rem; padding-top: 1rem;">
         <h1>Long-term Interactive Multi-scenario Simulation</h1>
         <p style="text-align: justify;">
-          <font color="white">Welcome! LimSim is an easy-to-use,
+          <font color="#000000">Welcome! LimSim is an easy-to-use,
             decision- & planning-oriented simulation software.</font>
         </p>
         <a href="GettingStarted/installDeploy/" title="Installation &amp; Deployment"
           class="md-button md-button--primary">
           Quick start
         </a>
+        <!-- <br>
+        <a href="https://arxiv.org/abs/2307.06648"><svg width="60" height="60" viewBox="0 0 48 48" fill="none"
+            xmlns="http://www.w3.org/2000/svg">
+            <path d="M10 38V44H38V38" stroke="#4051b5" stroke-width="4" stroke-linecap="round"
+              stroke-linejoin="round" />
+            <path d="M38 20V14L30 4H10V20" stroke="#4051b5" stroke-width="4" stroke-linecap="round"
+              stroke-linejoin="round" />
+            <path d="M28 4V14H38" stroke="#4051b5" stroke-width="4" stroke-linecap="round" stroke-linejoin="round" />
+            <rect x="4" y="20" width="40" height="18" rx="2" stroke="#4051b5" stroke-width="4"
+              stroke-linejoin="round" />
+            <path d="M21 25V33" stroke="#4051b5" stroke-width="4" stroke-linecap="round" />
+            <path d="M10 25V33" stroke="#4051b5" stroke-width="4" stroke-linecap="round" />
+            <path d="M32 33V25H37" stroke="#4051b5" stroke-width="4" stroke-linecap="round" stroke-linejoin="round" />
+            <path d="M32 30H37" stroke="#4051b5" stroke-width="4" stroke-linecap="round" stroke-linejoin="round" />
+            <path d="M10 25H13.5C14.8807 25 16 26.1193 16 27.5V27.5C16 28.8807 14.8807 30 13.5 30H10" stroke="#4051b5"
+              stroke-width="4" stroke-linecap="round" stroke-linejoin="round" />
+            <path d="M21 25H23C25.2091 25 27 26.7909 27 29V29C27 31.2091 25.2091 33 23 33H21" stroke="#4051b5"
+              stroke-width="4" stroke-linecap="round" stroke-linejoin="round" />
+            <path d="M16 12H20" stroke="#4051b5" stroke-width="4" stroke-linecap="round" />
+          </svg></a> &emsp;
+        <a href="https://github.com/PJLab-ADG/LimSim"><svg width="60" height="60" viewBox="0 0 48 48" fill="none"
+            xmlns="http://www.w3.org/2000/svg">
+            <path fill-rule="evenodd" clip-rule="evenodd"
+              d="M24 4C12.9543 4 4 12.9543 4 24C4 35.0457 12.9543 44 24 44C35.0457 44 44 35.0457 44 24C44 12.9543 35.0457 4 24 4ZM0 24C0 10.7452 10.7452 0 24 0C37.2548 0 48 10.7452 48 24C48 37.2548 37.2548 48 24 48C10.7452 48 0 37.2548 0 24Z"
+              fill="#4051b5" />
+            <path fill-rule="evenodd" clip-rule="evenodd"
+              d="M19.1833 45.4716C18.9898 45.2219 18.9898 42.9973 19.1833 38.798C17.1114 38.8696 15.8024 38.7258 15.2563 38.3667C14.437 37.828 13.6169 36.1667 12.8891 34.9959C12.1614 33.8251 10.5463 33.64 9.89405 33.3783C9.24182 33.1165 9.07809 32.0496 11.6913 32.8565C14.3044 33.6634 14.4319 35.8607 15.2563 36.3745C16.0806 36.8883 18.0515 36.6635 18.9448 36.2519C19.8382 35.8403 19.7724 34.3078 19.9317 33.7007C20.1331 33.134 19.4233 33.0083 19.4077 33.0037C18.5355 33.0037 13.9539 32.0073 12.6955 27.5706C11.437 23.134 13.0581 20.2341 13.9229 18.9875C14.4995 18.1564 14.4485 16.3852 13.7699 13.6737C16.2335 13.3589 18.1347 14.1343 19.4734 16.0001C19.4747 16.0108 21.2285 14.9572 24.0003 14.9572C26.772 14.9572 27.7553 15.8154 28.5142 16.0001C29.2731 16.1848 29.88 12.7341 34.5668 13.6737C33.5883 15.5969 32.7689 18.0001 33.3943 18.9875C34.0198 19.9749 36.4745 23.1147 34.9666 27.5706C33.9614 30.5413 31.9853 32.3523 29.0384 33.0037C28.7005 33.1115 28.5315 33.2855 28.5315 33.5255C28.5315 33.8856 28.9884 33.9249 29.6465 35.6117C30.0853 36.7362 30.117 39.948 29.7416 45.247C28.7906 45.4891 28.0508 45.6516 27.5221 45.7347C26.5847 45.882 25.5669 45.9646 24.5669 45.9965C23.5669 46.0284 23.2196 46.0248 21.837 45.8961C20.9154 45.8103 20.0308 45.6688 19.1833 45.4716Z"
+              fill="#4051b5" />
+          </svg></a>&emsp;
+        <a href="https://www.youtube.com/@DTSM_PJADG"><svg width="60" height="60" viewBox="0 0 48 48" fill="none"
+            xmlns="http://www.w3.org/2000/svg">
+            <path
+              d="M11.0637 10.4144C16.6069 10.1381 20.9183 10 23.998 10C27.0781 10 31.3911 10.1382 36.937 10.4145V10.4145C39.9391 10.5641 42.3672 12.9119 42.6176 15.9072C42.8712 18.9412 42.998 21.6134 42.998 23.9238C42.998 26.2626 42.8681 28.972 42.6082 32.0522H42.6082C42.3586 35.0103 39.9833 37.3412 37.021 37.5349C32.2796 37.845 27.9386 38 23.998 38C20.058 38 15.7186 37.845 10.9798 37.5351V37.5351C8.01852 37.3414 5.6437 35.0119 5.39288 32.055C5.12966 28.9518 4.99805 26.2414 4.99805 23.9238C4.99805 21.6341 5.12651 18.961 5.38345 15.9044L5.38346 15.9044C5.63514 12.9103 8.06274 10.564 11.0637 10.4144Z"
+              fill="#4051b5" stroke="#4051b5" stroke-width="4" stroke-linejoin="round" />
+            <path
+              d="M21 19.6092V28.406C21 28.8794 21.3838 29.2631 21.8571 29.2631C22.0252 29.2631 22.1896 29.2137 22.3298 29.1211L28.9274 24.7605C29.3223 24.4995 29.4308 23.9677 29.1698 23.5728C29.1074 23.4784 29.0269 23.3973 28.933 23.3341L22.3354 18.8979C21.9426 18.6337 21.41 18.7381 21.1458 19.1309C21.0508 19.2723 21 19.4388 21 19.6092Z"
+              fill="#FFF" stroke="#FFF" stroke-width="4" stroke-linejoin="round" />
+          </svg></a> -->
       </div>
     </div>
   </div>
@@ -530,7 +568,7 @@ <h3 style="margin-top: .3rem;">
       <a href="https://github.com/PJLab-ADG/LimSim.git" title="前往仓库" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
-    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.2.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.3.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2023 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
   </div>
   <div class="md-source__repository">
     PJLab-ADG/LimSim
@@ -551,7 +589,7 @@ <h3 style="margin-top: .3rem;">
   
     <li class="md-nav__item md-nav__item--active">
       
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      <input class="md-nav__toggle md-toggle" type="checkbox" id="__toc">
       
       
       
@@ -576,16 +614,16 @@ <h3 style="margin-top: .3rem;">
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_2" type="checkbox" id="__nav_2" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2" >
       
       
       
-        <label class="md-nav__link" for="__nav_2" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_2" id="__nav_2_label" tabindex="0">
           Getting Started
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Getting Started" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_2_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_2">
           <span class="md-nav__icon md-icon"></span>
           Getting Started
@@ -681,16 +719,16 @@ <h3 style="margin-top: .3rem;">
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_3" type="checkbox" id="__nav_3" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_3" >
       
       
       
-        <label class="md-nav__link" for="__nav_3" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_3" id="__nav_3_label" tabindex="0">
           Decision & Planing
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Decision & Planing" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_3_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_3">
           <span class="md-nav__icon md-icon"></span>
           Decision & Planing
@@ -711,48 +749,6 @@ <h3 style="margin-top: .3rem;">
 
             
           
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="DecisionAndPlanning/Decision/" class="md-nav__link">
-        Decision
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="DecisionAndPlanning/Planning/" class="md-nav__link">
-        Planning
-      </a>
-    </li>
-  
-
-            
-          
-            
-              
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="DecisionAndPlanning/Customization/" class="md-nav__link">
-        Customization
-      </a>
-    </li>
-  
-
-            
-          
         </ul>
       </nav>
     </li>
@@ -772,16 +768,16 @@ <h3 style="margin-top: .3rem;">
       
       
       
-      <input class="md-nav__toggle md-toggle " data-md-toggle="__nav_4" type="checkbox" id="__nav_4" >
+      <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_4" >
       
       
       
-        <label class="md-nav__link" for="__nav_4" tabindex="0" aria-expanded="false">
+        <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
           Analysis & Evaluation
           <span class="md-nav__icon md-icon"></span>
         </label>
       
-      <nav class="md-nav" aria-label="Analysis & Evaluation" data-md-level="1">
+      <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_4_label" aria-expanded="false">
         <label class="md-nav__title" for="__nav_4">
           <span class="md-nav__icon md-icon"></span>
           Analysis & Evaluation
@@ -865,11 +861,11 @@ <h3 style="margin-top: .3rem;">
       <div class="md-dialog__inner md-typeset"></div>
     </div>
     
-    <script id="__config" type="application/json">{"base": "..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../assets/javascripts/workers/search.e5c33ebb.min.js", "translations": {"clipboard.copied": "\u5df2\u590d\u5236", "clipboard.copy": "\u590d\u5236", "search.result.more.one": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.more.other": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 # \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.none": "\u6ca1\u6709\u627e\u5230\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.one": "\u627e\u5230 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.other": "# \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.placeholder": "\u952e\u5165\u4ee5\u5f00\u59cb\u641c\u7d22", "search.result.term.missing": "\u7f3a\u5c11", "select.version": "\u9009\u62e9\u5f53\u524d\u7248\u672c"}}</script>
+    <script id="__config" type="application/json">{"base": "..", "features": ["navigation.tabs", "navigation.path", "header.autohide", "announce.dismiss", "navigation.footer", "content.code.copy", "content.code.select", "content.code.annotate"], "search": "../assets/javascripts/workers/search.208ed371.min.js", "translations": {"clipboard.copied": "\u5df2\u590d\u5236", "clipboard.copy": "\u590d\u5236", "search.result.more.one": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.more.other": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 # \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.none": "\u6ca1\u6709\u627e\u5230\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.one": "\u627e\u5230 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.other": "# \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.placeholder": "\u952e\u5165\u4ee5\u5f00\u59cb\u641c\u7d22", "search.result.term.missing": "\u7f3a\u5c11", "select.version": "\u9009\u62e9\u5f53\u524d\u7248\u672c"}}</script>
     
     
 
-      <script src="../assets/javascripts/bundle.51d95adb.min.js"></script>
+      <script src="../assets/javascripts/bundle.efa0ade1.min.js"></script>
       
         <script src="https://polyfill.io/v3/polyfill.min.js?features=es6"></script>