diff --git a/test_code.ipynb b/test_code.ipynb
deleted file mode 100644
index be700132cfef6afdcbe8d8fce8cb16ab81225036..0000000000000000000000000000000000000000
--- a/test_code.ipynb
+++ /dev/null
@@ -1,20698 +0,0 @@
-{
- "cells": [
-  {
-   "cell_type": "markdown",
-   "metadata": {},
-   "source": [
-    "# Jupyter Notebook for Testing Code"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {},
-   "source": [
-    "## RRT*"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 1,
-   "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
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-      "h:0\n",
-      "----------\n"
-     ]
-    }
-   ],
-   "source": [
-    "%matplotlib tk\n",
-    "from RRTStar import *\n",
-    "\n",
-    "x_start = (18, 8)  # Starting node\n",
-    "x_goal = (37, 18)  # Goal node\n",
-    "\n",
-    "# rrt = RRT(x_start, x_goal, 0.5, 0.05, 10000)\n",
-    "# path = rrt.run()\n",
-    "\n",
-    "rrtstar = RRTStar(x_start, x_goal, 0.5, 0.05, 10000, r=10.0)\n",
-    "path = rrtstar.run()\n",
-    "\n",
-    "\n"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 4,
-   "metadata": {},
-   "outputs": [
-    {
-     "ename": "TypeError",
-     "evalue": "module() takes at most 2 arguments (3 given)",
-     "output_type": "error",
-     "traceback": [
-      "\u001b[1;31m---------------------------------------------------------------------------\u001b[0m",
-      "\u001b[1;31mTypeError\u001b[0m                                 Traceback (most recent call last)",
-      "Cell \u001b[1;32mIn[4], line 1\u001b[0m\n\u001b[1;32m----> 1\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01mmain\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m \u001b[38;5;241m*\u001b[39m\n",
-      "File \u001b[1;32mc:\\Users\\rmoan2\\guided_mrmp_24\\main.py:10\u001b[0m\n\u001b[0;32m      7\u001b[0m sys\u001b[38;5;241m.\u001b[39mpath\u001b[38;5;241m.\u001b[39mappend(\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mc:\u001b[39m\u001b[38;5;130;01m\\\\\u001b[39;00m\u001b[38;5;124mUsers\u001b[39m\u001b[38;5;130;01m\\\\\u001b[39;00m\u001b[38;5;124mrmoan2\u001b[39m\u001b[38;5;130;01m\\\\\u001b[39;00m\u001b[38;5;124mguided_mrmp_24\u001b[39m\u001b[38;5;124m\"\u001b[39m)\n\u001b[0;32m      9\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01mSingleAgentPlanners\u001b[39;00m\u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01mRRT\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m \u001b[38;5;241m*\u001b[39m\n\u001b[1;32m---> 10\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01mSingleAgentPlanners\u001b[39;00m\u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01mRRTStar\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m \u001b[38;5;241m*\u001b[39m\n\u001b[0;32m     11\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01mUtils\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m Conflict, Robot\n\u001b[0;32m     13\u001b[0m \u001b[38;5;28;01mclass\u001b[39;00m \u001b[38;5;21;01mGuidedMRMP\u001b[39;00m:\n",
-      "File \u001b[1;32mc:\\Users\\rmoan2\\guided_mrmp_24\\SingleAgentPlanners\\RRTStar.py:10\u001b[0m\n\u001b[0;32m      6\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01mUtils\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m Node, Env, Plotting\n\u001b[0;32m      8\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01mSingleAgentPlanners\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m RRT\n\u001b[1;32m---> 10\u001b[0m \u001b[38;5;28;43;01mclass\u001b[39;49;00m\u001b[43m \u001b[49m\u001b[38;5;21;43;01mRRTStar\u001b[39;49;00m\u001b[43m(\u001b[49m\u001b[43mRRT\u001b[49m\u001b[43m)\u001b[49m\u001b[43m:\u001b[49m\n\u001b[0;32m     11\u001b[0m \u001b[43m    \u001b[49m\u001b[38;5;28;43;01mdef\u001b[39;49;00m\u001b[43m \u001b[49m\u001b[38;5;21;43m__init__\u001b[39;49m\u001b[43m(\u001b[49m\u001b[38;5;28;43mself\u001b[39;49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43ms_start\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43ms_goal\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mstep_len\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mgoal_sample_rate\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43miter_max\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mr\u001b[49m\u001b[43m)\u001b[49m\u001b[43m:\u001b[49m\n\u001b[0;32m     12\u001b[0m \u001b[43m        \u001b[49m\u001b[38;5;28;43msuper\u001b[39;49m\u001b[43m(\u001b[49m\u001b[43m)\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[38;5;21;43m__init__\u001b[39;49m\u001b[43m(\u001b[49m\u001b[43ms_start\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43ms_goal\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mstep_len\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mgoal_sample_rate\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43miter_max\u001b[49m\u001b[43m)\u001b[49m\n",
-      "\u001b[1;31mTypeError\u001b[0m: module() takes at most 2 arguments (3 given)"
-     ]
-    }
-   ],
-   "source": [
-    "from main import *"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": []
-  }
- ],
- "metadata": {
-  "kernelspec": {
-   "display_name": "Python 3",
-   "language": "python",
-   "name": "python3"
-  },
-  "language_info": {
-   "codemirror_mode": {
-    "name": "ipython",
-    "version": 3
-   },
-   "file_extension": ".py",
-   "mimetype": "text/x-python",
-   "name": "python",
-   "nbconvert_exporter": "python",
-   "pygments_lexer": "ipython3",
-   "version": "3.12.2"
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- "nbformat": 4,
- "nbformat_minor": 2
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