diff --git a/Search-based Planning/.idea/workspace.xml b/Search-based Planning/.idea/workspace.xml
index 4df6d5d..0cf8218 100644
--- a/Search-based Planning/.idea/workspace.xml	
+++ b/Search-based Planning/.idea/workspace.xml	
@@ -19,13 +19,7 @@
     <select />
   </component>
   <component name="ChangeListManager">
-    <list default="true" id="025aff36-a6aa-4945-ab7e-b2c625055f47" name="Default Changelist" comment="">
-      <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/workspace.xml" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/Search_2D/bfs.py" beforeDir="false" afterPath="$PROJECT_DIR$/Search_2D/bfs.py" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/Search_2D/dfs.py" beforeDir="false" afterPath="$PROJECT_DIR$/Search_2D/dfs.py" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/Search_2D/dijkstra.py" beforeDir="false" afterPath="$PROJECT_DIR$/Search_2D/dijkstra.py" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/gif/DFS.gif" beforeDir="false" afterPath="$PROJECT_DIR$/gif/DFS.gif" afterDir="false" />
-    </list>
+    <list default="true" id="025aff36-a6aa-4945-ab7e-b2c625055f47" name="Default Changelist" comment="" />
     <option name="EXCLUDED_CONVERTED_TO_IGNORED" value="true" />
     <option name="SHOW_DIALOG" value="false" />
     <option name="HIGHLIGHT_CONFLICTS" value="true" />
@@ -56,7 +50,7 @@
     <property name="RunOnceActivity.ShowReadmeOnStart" value="true" />
     <property name="last_opened_file_path" value="$PROJECT_DIR$/../../PythonRobotics-master/PathPlanning" />
     <property name="restartRequiresConfirmation" value="false" />
-    <property name="settings.editor.selected.configurable" value="reference.settingsdialog.IDE.editor.colors.Console Colors" />
+    <property name="settings.editor.selected.configurable" value="com.jetbrains.python.configuration.PyActiveSdkModuleConfigurable" />
   </component>
   <component name="RunDashboard">
     <option name="ruleStates">
@@ -70,7 +64,7 @@
       </list>
     </option>
   </component>
-  <component name="RunManager" selected="Python.bfs">
+  <component name="RunManager" selected="Python.bidirectionalAstar3D">
     <configuration name="a_star" type="PythonConfigurationType" factoryName="Python" temporary="true" nameIsGenerated="true">
       <module name="Search-based Planning" />
       <option name="INTERPRETER_OPTIONS" value="" />
@@ -113,6 +107,27 @@
       <option name="INPUT_FILE" value="" />
       <method v="2" />
     </configuration>
+    <configuration name="bidirectionalAstar3D" type="PythonConfigurationType" factoryName="Python" temporary="true">
+      <module name="Search-based Planning" />
+      <option name="INTERPRETER_OPTIONS" value="" />
+      <option name="PARENT_ENVS" value="true" />
+      <envs>
+        <env name="PYTHONUNBUFFERED" value="1" />
+      </envs>
+      <option name="SDK_HOME" value="" />
+      <option name="WORKING_DIRECTORY" value="$PROJECT_DIR$/Search_3D" />
+      <option name="IS_MODULE_SDK" value="true" />
+      <option name="ADD_CONTENT_ROOTS" value="true" />
+      <option name="ADD_SOURCE_ROOTS" value="true" />
+      <option name="SCRIPT_NAME" value="$PROJECT_DIR$/Search_3D/bidirectionalAstar3D.py" />
+      <option name="PARAMETERS" value="" />
+      <option name="SHOW_COMMAND_LINE" value="false" />
+      <option name="EMULATE_TERMINAL" value="false" />
+      <option name="MODULE_MODE" value="false" />
+      <option name="REDIRECT_INPUT" value="false" />
+      <option name="INPUT_FILE" value="" />
+      <method v="2" />
+    </configuration>
     <configuration name="bidirectional_a_star" type="PythonConfigurationType" factoryName="Python" temporary="true">
       <module name="Search-based Planning" />
       <option name="INTERPRETER_OPTIONS" value="" />
@@ -176,42 +191,21 @@
       <option name="INPUT_FILE" value="" />
       <method v="2" />
     </configuration>
-    <configuration name="ida_star" type="PythonConfigurationType" factoryName="Python" temporary="true">
-      <module name="Search-based Planning" />
-      <option name="INTERPRETER_OPTIONS" value="" />
-      <option name="PARENT_ENVS" value="true" />
-      <envs>
-        <env name="PYTHONUNBUFFERED" value="1" />
-      </envs>
-      <option name="SDK_HOME" value="" />
-      <option name="WORKING_DIRECTORY" value="$PROJECT_DIR$/Search_2D" />
-      <option name="IS_MODULE_SDK" value="true" />
-      <option name="ADD_CONTENT_ROOTS" value="true" />
-      <option name="ADD_SOURCE_ROOTS" value="true" />
-      <option name="SCRIPT_NAME" value="$PROJECT_DIR$/Search_2D/ida_star.py" />
-      <option name="PARAMETERS" value="" />
-      <option name="SHOW_COMMAND_LINE" value="false" />
-      <option name="EMULATE_TERMINAL" value="false" />
-      <option name="MODULE_MODE" value="false" />
-      <option name="REDIRECT_INPUT" value="false" />
-      <option name="INPUT_FILE" value="" />
-      <method v="2" />
-    </configuration>
     <list>
       <item itemvalue="Python.dijkstra" />
       <item itemvalue="Python.a_star" />
-      <item itemvalue="Python.ida_star" />
       <item itemvalue="Python.bidirectional_a_star" />
       <item itemvalue="Python.bfs" />
       <item itemvalue="Python.dfs" />
+      <item itemvalue="Python.bidirectionalAstar3D" />
     </list>
     <recent_temporary>
       <list>
+        <item itemvalue="Python.bidirectionalAstar3D" />
         <item itemvalue="Python.bfs" />
         <item itemvalue="Python.dfs" />
         <item itemvalue="Python.bidirectional_a_star" />
         <item itemvalue="Python.a_star" />
-        <item itemvalue="Python.ida_star" />
       </list>
     </recent_temporary>
   </component>
diff --git a/Search-based Planning/Search_3D/__pycache__/env3D.cpython-37.pyc b/Search-based Planning/Search_3D/__pycache__/env3D.cpython-37.pyc
index d76f6ad..34a3a40 100644
Binary files a/Search-based Planning/Search_3D/__pycache__/env3D.cpython-37.pyc and b/Search-based Planning/Search_3D/__pycache__/env3D.cpython-37.pyc differ
diff --git a/Search-based Planning/Search_3D/__pycache__/utils3D.cpython-37.pyc b/Search-based Planning/Search_3D/__pycache__/utils3D.cpython-37.pyc
index 7010ce9..9570659 100644
Binary files a/Search-based Planning/Search_3D/__pycache__/utils3D.cpython-37.pyc and b/Search-based Planning/Search_3D/__pycache__/utils3D.cpython-37.pyc differ