diff --git a/Search-based Planning/.idea/workspace.xml b/Search-based Planning/.idea/workspace.xml
index 47b9fcb..965cec8 100644
--- a/Search-based Planning/.idea/workspace.xml	
+++ b/Search-based Planning/.idea/workspace.xml	
@@ -20,11 +20,10 @@
   </component>
   <component name="ChangeListManager">
     <list default="true" id="025aff36-a6aa-4945-ab7e-b2c625055f47" name="Default Changelist" comment="">
-      <change afterPath="$PROJECT_DIR$/Search_2D/Hybrid_Astar/ReedsSheppPlanner/draw.py" afterDir="false" />
-      <change afterPath="$PROJECT_DIR$/Search_2D/Hybrid_Astar/ReedsSheppPlanner/simulation.py" afterDir="false" />
-      <change afterPath="$PROJECT_DIR$/Search_2D/Hybrid_Astar/ReedsSheppPlanner/utils.py" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/workspace.xml" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/Search_2D/Hybrid_Astar.py" beforeDir="false" afterPath="$PROJECT_DIR$/Search_2D/Hybrid_Astar/ReedsSheppPlanner/ReedsShepp.py" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/Search_2D/Hybrid_Astar/ReedsSheppPlanner/ReedsShepp.py" beforeDir="false" afterPath="$PROJECT_DIR$/Search_2D/Hybrid_Astar/ReedsSheppPlanner/ReedsShepp.py" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/Search_2D/Hybrid_Astar/ReedsSheppPlanner/draw.py" beforeDir="false" afterPath="$PROJECT_DIR$/Search_2D/Hybrid_Astar/ReedsSheppPlanner/draw.py" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/Search_2D/Hybrid_Astar/ReedsSheppPlanner/simulation.py" beforeDir="false" afterPath="$PROJECT_DIR$/Search_2D/Hybrid_Astar/ReedsSheppPlanner/simulation.py" afterDir="false" />
     </list>
     <option name="EXCLUDED_CONVERTED_TO_IGNORED" value="true" />
     <option name="SHOW_DIALOG" value="false" />
diff --git a/Search-based Planning/Search_2D/Hybrid_Astar/ReedsSheppPlanner/ReedsShepp.py b/Search-based Planning/Search_2D/Hybrid_Astar/ReedsSheppPlanner/ReedsShepp.py
index 515313e..b423963 100644
--- a/Search-based Planning/Search_2D/Hybrid_Astar/ReedsSheppPlanner/ReedsShepp.py	
+++ b/Search-based Planning/Search_2D/Hybrid_Astar/ReedsSheppPlanner/ReedsShepp.py	
@@ -8,7 +8,7 @@ import sys
 from enum import Enum
 
 sys.path.append(os.path.dirname(os.path.abspath(__file__)) +
-                "/../../../../ReedsSheppPlanner/")
+                "/../../../../Search-based Planning/")
 
 from Search_2D.Hybrid_Astar.ReedsSheppPlanner.utils import *
 
diff --git a/Search-based Planning/Search_2D/Hybrid_Astar/ReedsSheppPlanner/__pycache__/ReedsShepp.cpython-37.pyc b/Search-based Planning/Search_2D/Hybrid_Astar/ReedsSheppPlanner/__pycache__/ReedsShepp.cpython-37.pyc
index f703339..c1f82af 100644
Binary files a/Search-based Planning/Search_2D/Hybrid_Astar/ReedsSheppPlanner/__pycache__/ReedsShepp.cpython-37.pyc and b/Search-based Planning/Search_2D/Hybrid_Astar/ReedsSheppPlanner/__pycache__/ReedsShepp.cpython-37.pyc differ
diff --git a/Search-based Planning/Search_2D/Hybrid_Astar/ReedsSheppPlanner/__pycache__/draw.cpython-37.pyc b/Search-based Planning/Search_2D/Hybrid_Astar/ReedsSheppPlanner/__pycache__/draw.cpython-37.pyc
index fe2f892..9b88272 100644
Binary files a/Search-based Planning/Search_2D/Hybrid_Astar/ReedsSheppPlanner/__pycache__/draw.cpython-37.pyc and b/Search-based Planning/Search_2D/Hybrid_Astar/ReedsSheppPlanner/__pycache__/draw.cpython-37.pyc differ
diff --git a/Search-based Planning/Search_2D/Hybrid_Astar/ReedsSheppPlanner/draw.py b/Search-based Planning/Search_2D/Hybrid_Astar/ReedsSheppPlanner/draw.py
index 3e34f50..1b57042 100644
--- a/Search-based Planning/Search_2D/Hybrid_Astar/ReedsSheppPlanner/draw.py	
+++ b/Search-based Planning/Search_2D/Hybrid_Astar/ReedsSheppPlanner/draw.py	
@@ -4,7 +4,7 @@ import os
 import sys
 
 sys.path.append(os.path.dirname(os.path.abspath(__file__)) +
-                "/../../../../ReedsSheppPlanner/")
+                "/../../../../Search-based Planning/")
 
 from Search_2D.Hybrid_Astar.ReedsSheppPlanner.utils import *
 import Search_2D.Hybrid_Astar.ReedsSheppPlanner.ReedsShepp as rs
diff --git a/Search-based Planning/Search_2D/Hybrid_Astar/ReedsSheppPlanner/simulation.py b/Search-based Planning/Search_2D/Hybrid_Astar/ReedsSheppPlanner/simulation.py
index 088e010..d1d7fb6 100644
--- a/Search-based Planning/Search_2D/Hybrid_Astar/ReedsSheppPlanner/simulation.py	
+++ b/Search-based Planning/Search_2D/Hybrid_Astar/ReedsSheppPlanner/simulation.py	
@@ -6,7 +6,7 @@ import os
 import sys
 
 sys.path.append(os.path.dirname(os.path.abspath(__file__)) +
-                "/../../../../ReedsSheppPlanner/")
+                "/../../../../Search-based Planning/")
 
 import Search_2D.Hybrid_Astar.ReedsSheppPlanner.ReedsShepp as RS
 from Search_2D.Hybrid_Astar.ReedsSheppPlanner import draw