diff --git a/Planning/planning_tools/carla_global_path.py b/Planning/planning_tools/carla_global_path.py
new file mode 100644
index 0000000..35d4fa8
--- /dev/null
+++ b/Planning/planning_tools/carla_global_path.py
@@ -0,0 +1,74 @@
+import rospy
+from sensor_msgs.msg import JointState
+from geometry_msgs.msg import PoseStamped
+import csv
+import matplotlib
+import threading
+import math
+rospy.init_node("carla_glodal_path")
+class publisher:
+    def __init__(self):
+        self.x=0
+        self.y=0
+        self.nodes = []
+        self.node_x = []
+        self.node_y = []
+        self.path_x = []
+        self.path_y = []
+        self.hz = rospy.Rate(20)
+        self.get_global_path()
+        self.path_pub = rospy.Publisher("/hdmap/path", JointState, queue_size = 1)
+        self.utm_sub = rospy.Subscriber("utm_fix", PoseStamped, self.utm_CallBack)
+
+        self.id = 0
+        self.len = 30
+        Th1 = threading.Thread(target=self.publishing)
+        Th1.daemon = True
+        Th1.start()
+        rospy.spin()
+    def utm_CallBack(self, data):
+        self.x = data.pose.position.x
+        self.y = data.pose.position.y
+
+    def get_global_path(self):
+        # name =raw_input("input carla path :")
+        name = "E6_path1.csv"
+        with open(name, "r") as f:
+            reader = csv.reader(f, delimiter = ',')
+            for rows in reader:
+                x = float(rows[0])
+                y = float(rows[1])
+                self.nodes.append([x,y])
+    def publishing(self):
+        while self.x==0 or self.y==0:
+            rospy.loginfo("Waiting for start")
+        while not rospy.is_shutdown():
+            id = 0
+            msg = JointState()
+            for i in self.nodes:
+                #print( math.sqrt((i[0]-self.x)**2+(i[1] - self.y)**2), i, self.x, self.y)
+                if math.sqrt((i[0]-self.x)**2+(i[1] - self.y)**2) < 5:
+                    self.id = id
+                    break
+                id+=1
+            else:
+                rospy.loginfo("Path is gone")
+                continue
+            k=2
+            for i in range(self.id+k, self.id + self.len+k):
+                x = 0
+                y = 0
+                try:
+                    x = self.nodes[i][0]
+                    y = self.nodes[i][1]
+                except:
+                    rospy.loginfo("# WARNING: Path end")
+                    break
+                msg.position.append(x)
+                msg.velocity.append(y)
+            rospy.loginfo("publishing {}".format(self.id))
+            rospy.sleep(0.05)
+            self.path_pub.publish(msg)
+
+if __name__ == "__main__":
+    a = publisher()
diff --git a/Planning/planning_tools/move_Ioniq_Carla.py b/Planning/planning_tools/move_Ioniq_Carla.py
new file mode 100644
index 0000000..964fb09
--- /dev/null
+++ b/Planning/planning_tools/move_Ioniq_Carla.py
@@ -0,0 +1,399 @@
+# Mediating Node for Ioniq, move_Ioniq
+# Author: Juho Song (hoya4764@dgist.ac.kr)
+# 2020.09.03 released
+# version 1.0.3
+# github :
+
+# <new update>
+# 1. every mode in this file can be used.
+# 2. PID function has modified.
+
+# structure of move_car for Ioniq: [car_type = 0.0(Ioniq), mode, speed, accel, brake, steer, gear, angular(Ioniq), status(ERP42), estop(ERP42)]
+
+#for PID
+import time
+
+#ros2 module
+import rospy
+from std_msgs.msg import Int16
+from std_msgs.msg import Float32MultiArray
+from std_msgs.msg import Float64
+from std_msgs.msg import String
+
+NODENAME = "move_Ioniq"
+
+#subscribed topics
+topic_Movecar = '/move_car'
+topic_Info = '/Carla_info'
+topic_NavPilot = '/mission_manager/nav_pilot'
+
+#topics to be published
+topic_MovecarInfo = '/move_car_info'
+
+rootname = '/dbw_cmd'
+topic_Accel = '/Accel'
+topic_Angular = '/Angular'
+topic_Brake = '/Brake'
+topic_Steer = '/Steer'
+topic_Gear = '/Gear'
+
+class Move_Ioniq():
+
+    def __init__(self):
+        # Initializing move_Ioniq node
+
+        #callback data
+        self.infomsg = [] # Ioniq_info
+        self.cur_vel = 0.0 # Carla_info
+        self.move_carmsg = [] #move_car(debug)
+        self.move_car_info = "" #move_car_info
+        self.prev_mode = 200.0
+        self.nav_pilot_switch = 2
+
+        # About PID
+        self.cur_time = time.time()
+        self.prev_time = 0
+        self.del_time = 0
+        self.kp = 20
+        self.ki = 7
+        self.kd = 5
+        self.error_p = 0
+        self.error_i = 0
+        self.error_d = 0
+        self.prev_error = 0
+        self.antiwindup = 70
+        self.prev_desired_vel = 0
+        self.mode_data = [None] * 4
+
+        # Initializing Ioniq dbw_cmd_node publisher
+        self.accelPub = rospy.Publisher(rootname + topic_Accel, Int16, queue_size = 1)
+        self.brakePub = rospy.Publisher(rootname + topic_Brake, Int16,queue_size = 1)
+        self.steerPub = rospy.Publisher(rootname + topic_Steer, Int16,queue_size = 1)
+        self.gearPub = rospy.Publisher(rootname + topic_Gear, Int16,queue_size = 1)
+        self.angularPub = rospy.Publisher(rootname + topic_Angular, Int16,queue_size = 1)
+
+        # Initializing dbw_ioniq_node subscriber
+        self.InfoSub = rospy.Subscriber(topic_Info, Float32MultiArray, self.info_callback)
+
+        # Initializing Navigation Pilot switch subscriber
+        self.NavPilotSub = rospy.Subscriber(topic_NavPilot, Int16, self.nav_pilot_callback)
+
+        # Initializing move_car topic subscriber
+        self.move_carSub = rospy.Subscriber(topic_Movecar,Float32MultiArray, self.move_car_callback)
+
+        # Initializing move_car_info topic publisher (depends on move_car callback)
+        self.MovecarInfoPub = rospy.Publisher(topic_MovecarInfo, String, queue_size = 1)
+        rospy.spin()
+    def nav_pilot_callback(self, msg):
+        self.nav_pilot_switch = msg.data
+
+    def info_callback(self, msg):
+        self.cur_vel = msg.data[0]
+
+        if self.mode_data[0] == 1.0 or self.mode_data[0] == 2.0 or self.mode_data[0] ==4.0 or self.mode_data[0] ==5.0 or self.mode_data[0] ==6.0: # for PID
+            self.mode_data[2], self.mode_data[3] = self.PID(self.mode_data[1])
+            self.pub_accel(self.mode_data[2])
+            self.pub_brake(self.mode_data[3])
+            self.mode_data[1] = self.prev_desired_vel
+            rospy.loginfo("cruise mode{}. {}km/h a: {}, b: {}".format(self.mode_data[0], self.mode_data[1], self.mode_data[2],self.mode_data[3]))
+
+    # structure of move_car for Ioniq: [car_type = 0.0(Ioniq), mode, speed, accel, brake, steer, gear, angular(Ioniq), status(ERP42), estop(ERP42)]
+    def move_car_callback(self, msg):
+        rospy.loginfo("{}".format(msg.data))
+        if self.prev_mode == 200.0 and len(msg.data) ==1 and msg.data[0] == 119.0: #case 0. when the reset code is the first published code
+            self.prev_mode == 119.0
+            rospy.logwarn("You published E-Stop reset code as the first topic!")
+
+        elif self.prev_mode == 119.0 and len(msg.data) ==1 and msg.data[0] == 119.0: #case 1. reset many times repeatly
+            self.prev_mode = 119.0
+            rospy.logwarn("Don't reset too much!")
+
+        elif self.prev_mode !=0.0 and len(msg.data) == 1 and msg.data[0] == 119.0: #case 2. reset after other modes except E-Stop mode
+            self.prev_mode = 119.0
+            rospy.logwarn("Reset after other modes except E-Stop mode.")
+
+        elif self.prev_mode !=0.0:
+
+            if len(msg.data) != 10 or msg.data[0] != 0.0: #wrong topics
+                rospy.logwarn("You published wrong!!! {}".format(msg.data))
+            else:
+                mode = msg.data[1]
+
+                if self.nav_pilot_switch == 0 and mode == 6.0: # mission manager mode
+                    if self.prev_mode == 119.0:
+                        self.emergency_stop_off()
+                    steer = msg.data[5]
+                    gear = msg.data[6]
+                    angular = msg.data[7]
+
+                    self.cruise_control(msg)
+                    self.pub_gear(gear)
+                    self.pub_angular(angular)
+                    self.pub_steer(steer)
+                    self.prev_mode = msg.data[1]
+                    self.move_carmsg = msg.data #debug
+                    rospy.loginfo("{}".format(self.move_carmsg)) #dubug
+
+                elif mode ==0.0: #E-STOP
+                    rospy.logwarn("E-STOP Publishing Actuator with mode{}".format(mode))
+                    self.emergency_stop_on()
+                    self.mode_data[0] = 0.0
+                    self.prev_mode = msg.data[1]
+                    self.move_carmsg = msg.data #debug
+                    rospy.loginfo("{}".format(self.move_carmsg)) #dubug
+                    self.prev_error = 0
+                    self.error_i = 0
+                    self.prev_time = 0
+                    self.prev_desired_vel = 0
+
+                elif mode == 1.0: #cruise control
+                    if self.prev_mode == 119.0:
+                        self.emergency_stop_off()
+                    self.cruise_control(msg)
+                    self.prev_mode = msg.data[1]
+                    self.move_carmsg = msg.data #debug
+                    rospy.loginfo("{}".format(self.move_carmsg)) #dubug
+
+                elif mode == 2.0: #cruise control with steering
+
+                    if self.prev_mode == 119.0:
+                        self.emergency_stop_off()
+                    steer = msg.data[5]
+                    angular = msg.data[7]
+
+                    self.cruise_control(msg)
+                    self.pub_angular(angular)
+                    self.pub_steer(steer)
+                    self.prev_mode = msg.data[1]
+                    self.move_carmsg = msg.data #debug
+                    rospy.loginfo("{}".format(self.move_carmsg)) #dubug
+
+                elif mode == 3.0: # mode that you can directly publish cmd value (for develper mode.)
+
+                    if self.prev_mode == 119.0:
+                        self.emergency_stop_off()
+                    self.mode_data[0] = 3.0
+                    accel = msg.data[3]
+                    brake = msg.data[4]
+                    steer = msg.data[5]
+                    gear = msg.data[6]
+                    angular = msg.data[7]
+
+                    self.pub_accel(accel)
+                    self.pub_brake(brake)
+                    self.pub_gear(gear)
+                    self.pub_angular(angular)
+                    self.pub_steer(steer)
+                    self.prev_mode = msg.data[1]
+                    self.move_carmsg = msg.data #debug
+                    rospy.loginfo("{}".format(self.move_carmsg)) #dubug
+                    self.prev_error = 0
+                    self.error_i = 0
+                    self.prev_desired_vel = 0
+                    self.prev_time = 0
+
+                elif mode == 4.0: # mode 1.0 + mode 3.0 (cruise control and direct publish except accel and brake)
+
+                    if self.prev_mode == 119.0:
+                        self.emergency_stop_off()
+                    steer = msg.data[5]
+                    gear = msg.data[6]
+                    angular = msg.data[7]
+
+                    self.cruise_control(msg)
+                    self.pub_gear(gear)
+                    self.pub_angular(angular)
+                    self.pub_steer(steer)
+                    self.prev_mode = msg.data[1]
+                    self.move_carmsg = msg.data #debug
+                    rospy.loginfo("{}".format(self.move_carmsg)) #dubug
+
+                elif mode == 5.0: # navigation pilot mode
+                    if self.nav_pilot_switch == 0: #switch off
+                      rospy.logwarn("nav_pilot_switch is off!")
+
+                    elif self.nav_pilot_switch ==1:
+                        if self.prev_mode == 119.0:
+                            self.emergency_stop_off()
+                        steer = msg.data[5]
+                        gear = msg.data[6]
+                        angular = msg.data[7]
+
+                        self.cruise_control(msg)
+                        self.pub_gear(gear)
+                        self.pub_angular(angular)
+                        self.pub_steer(steer)
+                        self.prev_mode = msg.data[1]
+                        self.move_carmsg = msg.data #debug
+                        rospy.loginfo("{}".format(self.move_carmsg)) #dubug
+
+        elif self.prev_mode == 0.0:
+
+            if len(msg.data) == 1 and msg.data[0] ==119.0: #escape code [119.0]
+                self.prev_mode = 119.0
+                rospy.loginfo("Escape!")
+            else:
+                rospy.loginfo("Stucked in E-Stop! {}".format(msg.data))
+
+        else:
+            rospy.logwarn("Not Valid Message!!! {}".format(msg.data))
+
+
+
+
+    # Basic cmd publisher
+    def pub(self, topic, val):
+        topic_list = ['accel','brake','steer','gear','angular']
+
+        if topic == topic_list[0]:
+            val = int(val)
+            if not 0 <= val <= 3000:
+                raise ValueError("your val for accel, {} is out of range.".format(val))
+            accel = Int16()
+            accel.data = val
+            self.accelPub.publish(accel)
+
+        elif topic == topic_list[1]:
+            val = int(val)
+            if not 0 <= val <= 29000:
+                raise ValueError("your val for brake, {} is out of range.".format(val))
+            brake = Int16()
+            brake.data = val
+            self.brakePub.publish(brake)
+
+        elif topic == topic_list[2]:
+            val = int(val)
+            if not -440 <= val <= 440:
+                raise ValueError("your val for steer, {} is out of range.".format(val))
+            steer = Int16()
+            steer.data = val
+            self.steerPub.publish(steer)
+
+        elif topic == topic_list[3]:
+            val = int(val)
+            gear_dict = {0:"parking",5:"driving",6:"neutral",7:"reverse"}
+            if val not in gear_dict:
+                raise ValueError("your val for gear, {} is not valid.".format(val))
+            gear = Int16()
+            gear.data = val
+            self.gearPub.publish(gear)
+
+        elif topic == topic_list[4]:
+            val = int(val)
+            if not 0 <= val <= 255:
+                raise ValueError("your val for angular, {} is out of range.".format(val))
+            angular = Int16()
+            angular.data = val
+            self.angularPub.publish(angular)
+
+    #Functional cmd publishers
+    def pub_accel(self, val):
+        self.pub('accel', val)
+
+    def pub_brake(self, val):
+        self.pub('brake', val)
+
+    def pub_steer(self, val):
+        self.pub('steer', val)
+
+    def pub_gear(self, val):
+        self.pub('gear', val)
+
+    def pub_angular(self, val):
+        self.pub('angular', val)
+
+    #mode manager
+
+    #mode 0. Emergency Stop
+    def emergency_stop_on(self, msg):
+        self.pub_accel(0.0)
+        self.pub_brake(29000.0)
+
+    def emergency_stop_off(self):
+        rospy.loginfo("E-Stop Off!")
+
+    #mode 1. Cruise Control
+    def PID(self,desired_vel):
+
+        if desired_vel == -1.0:
+            desired_vel = self.prev_desired_vel
+
+        # When desired velocity is changed, prev_error and error_i should be reset!
+        if desired_vel != self.prev_desired_vel:
+            self.prev_error = 0
+            self.error_i = 0
+            self.prev_time = 0
+        self.prev_desired_vel = desired_vel
+
+        # Defining dt(del_time)
+        self.cur_time = time.time()
+        if self.prev_time ==0:
+            self.del_time = 0
+        elif self.prev_time!=0:
+            self.del_time = self.cur_time - self.prev_time
+
+        # Calculate Errors
+        self.error_p = desired_vel - self.cur_vel
+        self.error_i += self.error_p * (self.del_time)
+        time.sleep(0.005)
+        if (self.error_i < - self.antiwindup):
+            self.error_i = - self.antiwindup
+        elif (self.error_i > self.antiwindup):
+            self.error_i = self.antiwindup
+        if self.prev_time ==0:
+            self.error_d = 0
+        elif self.prev_time!=0:
+            self.error_d = (self.error_p - self.prev_error)/self.del_time
+
+        # PID Out
+        pid_out = self.kp*self.error_p + self.ki*self.error_i + self.kd*self.error_d
+        self.pid_out = pid_out
+        if pid_out > 1000:
+            pid_out = 1000
+        elif pid_out < -1000:
+            pid_out = -1000
+
+        self.prev_error = self.error_p # Feedback current error
+        self.prev_time = self.cur_time # Feedback current time
+
+    	# accel_max - accel_dead_zone = 3000 - 800 = 2200
+    	# 2200/10 = 220, 220 + 1 = 221
+        '''
+        if pid_out > 0:
+            for i in range(221):
+                if i <= pid_out < i+1:
+                    return 800 + 10*i, 0
+        '''
+        if pid_out > 0:
+            for i in range(858):
+                if i <= pid_out < i+1:
+                    gaspedal = 800 + 10*i
+                    if gaspedal >= 3000:
+                        gaspedal = 3000
+                        return gaspedal, 0
+                    else:
+                        return gaspedal, 0
+
+
+    	# brake_max - brake_dead_zone = 29000 - 3500 = 25500 (!!!!!!!should be changed to 29000 if needed!!!!!!!)
+    	# 25500/10 = 2550, 2550 + 1 = 2551
+        elif pid_out < 0:
+            for i in range(2551):
+                if i <= abs(pid_out) < i+1:
+                    return 0, 2700+10*i
+
+        return 0, 0
+
+    def cruise_control(self,msg):
+        self.mode_data = [msg.data[1], msg.data[2], 0.0, 0.0] #[mode, target_speed, 0.0, 0.0]
+
+def main():
+    rospy.init_node(NODENAME)
+    move_car = Move_Ioniq()
+
+    # Destroy the node explicitly
+    # (optional - otherwise it will be done automatically
+    # when the garbage collector destroys the node object)
+
+if __name__ == '__main__':
+    main()
diff --git a/Planning/planning_tools/path_viewer.py b/Planning/planning_tools/path_viewer.py
new file mode 100644
index 0000000..3db4e50
--- /dev/null
+++ b/Planning/planning_tools/path_viewer.py
@@ -0,0 +1,176 @@
+import csv
+import utm
+import argparse
+import math
+import matplotlib.pyplot as plt
+
+from pyproj import Proj, transform
+import numpy as np
+import pandas  as pd
+# Projection 정의
+# UTM-K
+proj_UTMK = Proj(init='epsg:5178') # UTM-K(Bassel) 도로명주소 지도 사용 중
+
+# WGS1984
+proj_WGS84 = Proj(init='epsg:4326') # Wgs84 경도/위도, GPS사용 전지구 좌표
+class modified_path:
+    def __init__(self, input_path= '', output_path= ''):
+        self.x_path = []
+        self.y_path = []
+        self.latlon=[]
+        self.utm_files = ["/home/vision/Desktop/path/parking1.csv"]#,"/home/vision/Desktop/path/parking2-1.csv","/home/vision/Desktop/path/parking3.csv","/home/vision/Desktop/path/parking4-2.csv","/home/vision/Desktop/path/parking5.csv","/home/vision/Desktop/path/parking6-1.csv"]
+        self.gps_files= ["/home/vision/k_parking_start1_p.csv","/home/vision/k_parking_start2_p.csv","/home/vision/k_parking_start3_p.csv"]
+        #,"/home/vision/k_parking_start2_p.csv","/home/vision/k_parking_start3_p.csv"
+        self.off = 3
+        self.x_point = []
+        self.y_point = []
+        self.buff = []
+        for file in self.utm_files:
+            self.get_utm_path(file,self.x_path,self.y_path)
+
+        for file in self.gps_files:
+            self.get_gps_path(file, self.x_point, self.y_point)
+        print("path size :", len(self.x_point))
+        '''
+        for file in self.gps_files:
+            self.get_gps_path1(file, self.x_point, self.y_point)
+        print("path size :", len(self.x_point))
+        '''
+        self.fig, self.ax = plt.subplots(figsize=(15, 8))
+        plt.grid(True)
+        plt.xlabel('x')
+        plt.ylabel('y')
+        plt.title('Interactive Plot')
+
+        self.ax.set(xlim=[min(self.x_path+self.x_point)-self.off, max(self.x_path+self.x_point)+self.off], ylim=[min(self.y_path+self.y_point)-self.off, max(self.y_path+self.y_point)+self.off])
+        self.ax.set_aspect(1, adjustable='box')
+
+        self.line, = self.ax.plot(self.x_path, self.y_path, "bo")
+        self.cid = self.fig.canvas.mpl_connect('button_press_event', self.add_point)
+        plt.show()
+    def add_point(self, event):
+        #print('you pressed', event.key, event.xdata, event.ydata)
+        if event.inaxes != self.ax:
+            return
+
+        x = event.xdata
+        y = event.ydata
+
+        if event.button == 1 :
+            if event.key == 'shift':
+                id1, id2 = self.get_point_id(x,y)
+                if id1>id2:
+                    self.x_path.insert(id1,x)
+                    self.y_path.insert(id1,y)
+                else:
+                    self.x_path.insert(id2,x)
+                    self.y_path.insert(id2,y)
+
+            if event.key =='control':
+                plt.plot(self.x_point, self.y_point, "go")
+
+            self.line.set_data(self.x_path, self.y_path)
+            plt.draw()
+
+
+        if event.button == 3:
+            if event.key == 'shift':
+                id1, id2= self.get_point_id(x,y)
+                self.buff.append([id1, self.x_path[id1], self.y_path[id1]])
+                del self.x_path[id1]
+                del self.y_path[id1]
+            if event.key =='control':
+                try:
+                    self.x_path.insert(self.buff[-1][0], self.buff[-1][1])
+                    self.y_path.insert(self.buff[-1][0], self.buff[-1][2])
+                    self.buff.pop()
+                except:
+                    print("Don't Ctrl z")
+            self.line.set_data(self.x_path, self.y_path)
+            plt.draw()
+
+
+        if event.button == 2:
+            self.save_point()
+            plt.disconnect(self.cid)
+            plt.close()
+
+    def get_utm_path(self,file_name,x_path,y_path):
+
+        print("start read path :",file_name)
+        p=[0,0]
+        with open(file_name, "r") as f:
+            reader = csv.reader(f)
+            for raw in reader:
+                x_path.append(float(raw[0]))
+                y_path.append(float(raw[1]))
+
+                print(raw[0], raw[1],395201.3103811303, 5673135.241182375 )
+                #p=utm.to_latlon(raw[0], raw[1])
+                self.latlon.append([p[0],p[1]])
+                #print(p)
+        print ("path size :", len(self.x_path))
+    def get_gps_path1(self,file_name, x_path,y_path):
+        cnt = 0
+        print("start read path :",file_name)
+        proj_UTMK = Proj(init='epsg:5178') # UTM-K(Bassel) 도로명주소 지도 사용 중
+
+        # WGS1984
+        proj_WGS84 = Proj(init='epsg:4326') # Wgs84 경도/위도, GPS사용 전지구 좌표
+        with open(file_name, "r") as f:
+            reader = csv.reader(f)
+            x=0
+            y=0
+            for raw in reader:
+
+                if cnt==0:
+                    cnt = 1
+                    continue
+                x,y=transform(proj_WGS84, proj_UTMK, float(raw[7]), float(raw[6]))
+                x_path.append(x)
+                y_path.append(y)
+    def get_gps_path(self,file_name, x_path,y_path):
+        cnt = 0
+        print("start read path :",file_name)
+        with open(file_name, "r") as f:
+            reader = csv.reader(f)
+            p = [0,0]
+            for raw in reader:
+                if cnt==0:
+                    cnt = 1
+                    continue
+                p = utm.from_latlon(float(raw[6]), float(raw[7]))
+                x_path.append(p[0])
+                y_path.append(p[1])
+
+    def get_point_id(self, x, y):
+        first_id = -1
+        second_id = -1
+        mind1 = 100000000000000
+        mind2 = 100000000000000
+        for i in range(len(self.x_path)):
+            d = math.sqrt((self.x_path[i]-x)*(self.x_path[i]-x) + (self.y_path[i]-y)*(self.y_path[i]-y))
+            if(d<mind1):
+                second_id = first_id
+                mind2 = mind1
+
+                first_id = i
+                mind1 = d
+                continue
+            if(d<mind2):
+                second_id = i
+                mind2 = d
+        return first_id, second_id
+    def save_point(self):
+        print("saving points...")
+        for file in self.utm_files:
+            with open(r_strip(file,'.csv')+"modified_path.csv",'w', encoding='utf-8') as f:
+                wr = csv.writer(f)
+                for i in range(len(self.x_path)):
+                    wr.writerow([self.x_path[0], self.y_path[1]])
+                print("Done with {}points".format(len(self.x_path)))
+
+
+
+if __name__ == "__main__":
+    a = modified_path()