diff --git a/Sampling-based Planning/.idea/Sampling-based Planning.iml b/Sampling-based Planning/.idea/Sampling-based Planning.iml
index 5965bde..c444878 100644
--- a/Sampling-based Planning/.idea/Sampling-based Planning.iml	
+++ b/Sampling-based Planning/.idea/Sampling-based Planning.iml	
@@ -2,7 +2,7 @@
 <module type="PYTHON_MODULE" version="4">
   <component name="NewModuleRootManager">
     <content url="file://$MODULE_DIR$" />
-    <orderEntry type="jdk" jdkName="Python 3.7 (Search-based Planning)" jdkType="Python SDK" />
+    <orderEntry type="jdk" jdkName="Python 3.7" jdkType="Python SDK" />
     <orderEntry type="sourceFolder" forTests="false" />
   </component>
 </module>
\ No newline at end of file
diff --git a/Sampling-based Planning/.idea/misc.xml b/Sampling-based Planning/.idea/misc.xml
index 0e7ac62..a2e120d 100644
--- a/Sampling-based Planning/.idea/misc.xml	
+++ b/Sampling-based Planning/.idea/misc.xml	
@@ -1,4 +1,4 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project version="4">
-  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.7 (Search-based Planning)" project-jdk-type="Python SDK" />
+  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.7" project-jdk-type="Python SDK" />
 </project>
\ No newline at end of file
diff --git a/Sampling-based Planning/gif/RRT_2D.gif b/Sampling-based Planning/gif/RRT_2D.gif
new file mode 100644
index 0000000..f7e4757
Binary files /dev/null and b/Sampling-based Planning/gif/RRT_2D.gif differ
diff --git a/Sampling-based Planning/rrt_2D/__pycache__/env.cpython-37.pyc b/Sampling-based Planning/rrt_2D/__pycache__/env.cpython-37.pyc
index 3bd1dd8..b0dfdbd 100644
Binary files a/Sampling-based Planning/rrt_2D/__pycache__/env.cpython-37.pyc and b/Sampling-based Planning/rrt_2D/__pycache__/env.cpython-37.pyc differ
diff --git a/Sampling-based Planning/rrt_2D/__pycache__/plotting.cpython-37.pyc b/Sampling-based Planning/rrt_2D/__pycache__/plotting.cpython-37.pyc
index 093cf47..2584298 100644
Binary files a/Sampling-based Planning/rrt_2D/__pycache__/plotting.cpython-37.pyc and b/Sampling-based Planning/rrt_2D/__pycache__/plotting.cpython-37.pyc differ
diff --git a/Sampling-based Planning/rrt_2D/__pycache__/rrt.cpython-37.pyc b/Sampling-based Planning/rrt_2D/__pycache__/rrt.cpython-37.pyc
index 0b0996c..aadb228 100644
Binary files a/Sampling-based Planning/rrt_2D/__pycache__/rrt.cpython-37.pyc and b/Sampling-based Planning/rrt_2D/__pycache__/rrt.cpython-37.pyc differ
diff --git a/Sampling-based Planning/rrt_2D/__pycache__/utils.cpython-37.pyc b/Sampling-based Planning/rrt_2D/__pycache__/utils.cpython-37.pyc
index 032c162..ee4ba90 100644
Binary files a/Sampling-based Planning/rrt_2D/__pycache__/utils.cpython-37.pyc and b/Sampling-based Planning/rrt_2D/__pycache__/utils.cpython-37.pyc differ
diff --git a/Sampling-based Planning/rrt_2D/plotting.py b/Sampling-based Planning/rrt_2D/plotting.py
index c61b1b7..0e231e0 100644
--- a/Sampling-based Planning/rrt_2D/plotting.py	
+++ b/Sampling-based Planning/rrt_2D/plotting.py	
@@ -77,7 +77,7 @@ class Plotting:
                     plt.plot([node.parent.x, node.x], [node.parent.y, node.y], "-g")
                     plt.gcf().canvas.mpl_connect('key_release_event',
                                                  lambda event: [exit(0) if event.key == 'escape' else None])
-                    if count % 5 == 0: plt.pause(0.001)
+                    if count % 10 == 0: plt.pause(0.001)
         else:
             for node in nodelist:
                 if node.parent:
diff --git a/Sampling-based Planning/rrt_2D/rrt_star.py b/Sampling-based Planning/rrt_2D/rrt_star.py
index 3653faf..3a469be 100644
--- a/Sampling-based Planning/rrt_2D/rrt_star.py	
+++ b/Sampling-based Planning/rrt_2D/rrt_star.py	
@@ -170,7 +170,7 @@ def main():
     x_start = (2, 2)  # Starting node
     x_goal = (49, 28)  # Goal node
 
-    rrt_star = RrtStar(x_start, x_goal, 1, 0.1, 10, 20000)
+    rrt_star = RrtStar(x_start, x_goal, 1.2, 0.15, 10, 20000)
     path = rrt_star.planning()
 
     if path:
diff --git a/Sampling-based Planning/rrt_2D/utils.py b/Sampling-based Planning/rrt_2D/utils.py
index b8a4dc4..28ed399 100644
--- a/Sampling-based Planning/rrt_2D/utils.py	
+++ b/Sampling-based Planning/rrt_2D/utils.py	
@@ -5,7 +5,6 @@ utils for collision check
 
 import math
 import numpy as np
-import pyrr
 import os
 import sys
 
@@ -20,7 +19,7 @@ class Utils:
     def __init__(self):
         self.env = env.Env()
 
-        self.delta = 0.2
+        self.delta = 0.5
         self.obs_circle = self.env.obs_circle
         self.obs_rectangle = self.env.obs_rectangle
         self.obs_boundary = self.env.obs_boundary