diff --git a/.gitignore b/.gitignore
index 8f754a6f..3d2cae8d 100644
--- a/.gitignore
+++ b/.gitignore
@@ -26,3 +26,4 @@ gif/
 debug/
 build/
 .python-version
+**.bag
\ No newline at end of file
diff --git a/minihawk/_jaxguam_pose.csv b/minihawk/_jaxguam_pose.csv
new file mode 100644
index 00000000..69e388ff
--- /dev/null
+++ b/minihawk/_jaxguam_pose.csv
@@ -0,0 +1,20599 @@
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diff --git a/minihawk/_jaxguam_velocity.csv b/minihawk/_jaxguam_velocity.csv
new file mode 100644
index 00000000..f6e80cfa
--- /dev/null
+++ b/minihawk/_jaxguam_velocity.csv
@@ -0,0 +1,20595 @@
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diff --git a/minihawk/_target_pose.csv b/minihawk/_target_pose.csv
new file mode 100644
index 00000000..8f41529c
--- /dev/null
+++ b/minihawk/_target_pose.csv
@@ -0,0 +1,1118 @@
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diff --git a/minihawk/config.yml b/minihawk/config.yml
new file mode 100644
index 00000000..e64d776f
--- /dev/null
+++ b/minihawk/config.yml
@@ -0,0 +1,122 @@
+adv_objects:
+  enabled: false
+  objects:
+  - model: uli_cora
+    pose:
+      location:
+        x: 20
+        y: 20
+        z: 20
+      rotation:
+        pitch: 0
+        roll: 0
+        yaw: 0
+      type: relative
+    velocity:
+      x: 0
+      y: 0
+      z: 0
+ego_vehicle:
+  debug: false
+  include: ego_vehicle/jaxguam.yml
+  location:
+    x: -80
+    y: 75
+    z: 75
+  model: uli_cora
+  perception_control_topic: /controller_node/tgt_box_rcvd
+  perception_vel_topic: /controller_node/vel_cmd
+  planner:
+    distance_threshold: 1
+    speed_check_time: 0.5
+    speed_threshold: 3
+    type: a_star
+  planner_topic: /target/waypoint
+  plot: false
+  reference_topic: /target/pose
+  save_video: false
+  skip_sleep: false
+  type: jaxguam
+  velocity:
+    x: 0
+    y: 0
+    z: 0
+landing_threshold: 0.1
+loglevel: DEBUG
+map: Town02_Opt
+optional_features:
+  include: optional_features/static_obstacles_record.yml
+  record_static_obstacles:
+    enabled: true
+    frame: global
+record_persistent: true
+record_rosbag: true
+services:
+  carla:
+    include: services/carla.yml
+    start_delay: 15
+  env_sim:
+    host_setup:
+    - 'xhost -local:'
+    - 'xhost +local:'
+    include: services/env_sim.yml
+    ros:
+      launch_file: run.launch
+      ros_package: rraaa
+      workspace: /catkin_ws
+    start_delay: 1
+    weather:
+      lighting:
+        cloudiness: 80.0
+        fog_density: 20.0
+        fog_distance: 150.0
+        precipitation: 50.0
+        precipitation_deposits: 30.0
+        sun_altitude_angle: 15.0
+        sun_azimuth_angle: 90.0
+      lighting_flag: default
+      type: ClearSunset
+      weather_flag: default
+  ground_station:
+    include: services/ground_station.yml
+    ros:
+      ros_package: ground_station
+      rosrun_files:
+      - node_target.py
+      workspace: /catkin_ws
+    start_delay: 1
+  jaxguam:
+    include: services/jaxguam.yml
+    ros:
+      ros_package: jaxguam
+      rosrun_files:
+      - node_vehicle.py
+      - node_planner.py
+      - landing_controller.py
+      workspace: /catkin_ws
+    start_delay: 1
+  sim_control:
+    include: services/sim_control.yml
+    ros:
+      ros_package: sim_control
+      rosrun_files:
+      - node_recorder.py
+      - node_sim_start.py
+      - node_control.py
+      workspace: /catkin_ws
+    start_delay: 1
+  yolov5:
+    include: services/yolov5.yml
+    ros:
+      ros_package: yolov5
+      rosrun_files:
+      - node_yolo.py
+      workspace: /catkin_ws
+    start_delay: 1
+simulation_mode: 1
+spectator_follows_ego_vehicle: false
+target:
+  type: relative
+  x: 0
+  y: 0
+  z: -50
diff --git a/minihawk/extracted_0/_minihawk_pose.csv b/minihawk/extracted_0/_minihawk_pose.csv
new file mode 100644
index 00000000..919a5249
--- /dev/null
+++ b/minihawk/extracted_0/_minihawk_pose.csv
@@ -0,0 +1,1079 @@
+timestamp,tx,ty,tz,rx,ry,rz,rw
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diff --git a/minihawk/extracted_0/_target_pose.csv b/minihawk/extracted_0/_target_pose.csv
new file mode 100644
index 00000000..d01c11b4
--- /dev/null
+++ b/minihawk/extracted_0/_target_pose.csv
@@ -0,0 +1,1501 @@
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diff --git a/minihawk/extracted_1/_minihawk_pose.csv b/minihawk/extracted_1/_minihawk_pose.csv
new file mode 100644
index 00000000..878c5889
--- /dev/null
+++ b/minihawk/extracted_1/_minihawk_pose.csv
@@ -0,0 +1,1099 @@
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diff --git a/minihawk/extracted_1/_target_pose.csv b/minihawk/extracted_1/_target_pose.csv
new file mode 100644
index 00000000..1bed9d44
--- /dev/null
+++ b/minihawk/extracted_1/_target_pose.csv
@@ -0,0 +1,1525 @@
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diff --git a/minihawk/extracted_2/_minihawk_pose.csv b/minihawk/extracted_2/_minihawk_pose.csv
new file mode 100644
index 00000000..8de859f0
--- /dev/null
+++ b/minihawk/extracted_2/_minihawk_pose.csv
@@ -0,0 +1,1066 @@
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diff --git a/minihawk/extracted_2/_target_pose.csv b/minihawk/extracted_2/_target_pose.csv
new file mode 100644
index 00000000..616852d3
--- /dev/null
+++ b/minihawk/extracted_2/_target_pose.csv
@@ -0,0 +1,1484 @@
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diff --git a/minihawk/extracted_3/_minihawk_pose.csv b/minihawk/extracted_3/_minihawk_pose.csv
new file mode 100644
index 00000000..766c27da
--- /dev/null
+++ b/minihawk/extracted_3/_minihawk_pose.csv
@@ -0,0 +1,1095 @@
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diff --git a/minihawk/extracted_3/_target_pose.csv b/minihawk/extracted_3/_target_pose.csv
new file mode 100644
index 00000000..03ffec65
--- /dev/null
+++ b/minihawk/extracted_3/_target_pose.csv
@@ -0,0 +1,1519 @@
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+2261.7625,-80.0,75.0,25.0,0.0,0.0,0.0
diff --git a/minihawk/minihawk_agent.py b/minihawk/minihawk_agent.py
new file mode 100644
index 00000000..2e27511d
--- /dev/null
+++ b/minihawk/minihawk_agent.py
@@ -0,0 +1,113 @@
+# Example agent.
+from typing import Tuple, List
+
+import numpy as np
+from scipy.integrate import ode
+from scipy.integrate import solve_ivp
+
+from verse.agents import BaseAgent
+from verse.map import LaneMap
+import os 
+import pandas as pd 
+from scipy.spatial.transform import Rotation
+from verse.parser import ControllerIR
+
+script_dir = os.path.dirname(os.path.realpath(__file__))
+
+class MiniHawkAgent(BaseAgent):
+    def __init__(self, id, code=None, file_name=None):
+        # Calling the constructor of tha base class
+
+        # super().__init__(id, code, file_name)
+        self.id = id
+        self.traces_list = []
+        for i in range(4):
+            df = pd.read_csv(os.path.join(script_dir, f'extracted_{i}','./_minihawk_pose.csv'))
+            self.traces_list.append(df)
+        self.decision_logic: ControllerIR = ControllerIR.empty()
+        self.process_traces()
+    
+    def process_traces(self):
+        min_trace_length = np.inf
+        for trace_df in self.traces_list:
+            timestamp = np.array(trace_df['timestamp'])
+            if len(timestamp) < min_trace_length:
+                min_trace_length = len(timestamp)
+
+        self.all_traces = []
+        for trace_df in self.traces_list:
+            t = np.array(trace_df['timestamp'])[:min_trace_length:2]
+            tx = np.array(trace_df['tx'])[:min_trace_length:2]
+            ty = np.array(trace_df['ty'])[:min_trace_length:2]
+            tz = np.array(trace_df['tz'])[:min_trace_length:2]
+            rx = np.array(trace_df['rx'])[:min_trace_length:2]
+            ry = np.array(trace_df['ry'])[:min_trace_length:2]
+            rz = np.array(trace_df['rz'])[:min_trace_length:2]
+            rw = np.array(trace_df['rw'])[:min_trace_length:2]
+
+            # quats = np.zeros((len(rx),4))
+            # quats[:,0],quats[:,1],quats[:,2],quats[:,3] = rx,ry,rz,rw 
+            # rpy = Rotation.from_quat(quats).as_euler('xyz')
+            t = np.round(t-t[0],2)
+            t_multiplier = np.array([i for i in range(len(t))])
+            t = np.round(t_multiplier*0.25, 4)
+            quats = np.zeros((len(t), 4))
+            quats[:,0] = rx 
+            quats[:,1] = ry 
+            quats[:,2] = rz 
+            quats[:,3] = rw
+            rpy = Rotation.from_quat(quats).as_euler('xyz')
+            
+            trace = np.zeros((len(t), 7))
+            trace[:,0] = t 
+            trace[:,1] = tx
+            trace[:,2] = ty
+            trace[:,3] = tz
+            trace[:,4:] = rpy 
+            self.all_traces.append(trace)
+        self.all_traces = np.array(self.all_traces)
+
+    def TC_simulate(self, mode: List[str], initialCondition, time_bound, time_step, track_map: LaneMap = None) -> np.ndarray:
+        '''
+        # time_bound = float(time_bound)
+        # number_points = int(np.ceil(time_bound/time_step))
+        # t = [round(i*time_step, 10) for i in range(0, number_points)]
+
+        # init = initialCondition
+        # trace = [[0]+init]
+        # for i in range(len(t)):
+        #     r = self.action_handler(mode[0])
+        #     r.set_initial_value(init)
+        #     res: np.ndarray = r.integrate(r.t + time_step)
+        #     init = res.flatten().tolist()
+        #     trace.append([t[i] + time_step] + init)
+        # return np.array(trace)
+        '''
+        # pass   
+        steps = int(time_bound/time_step)
+        initial_condition = np.array(initialCondition)      
+        all_inits = self.all_traces[:,0,1:]
+        dists = np.linalg.norm(all_inits - initial_condition, axis=1)
+        trace_idx = np.argmin(dists)
+        # init = initialCondition
+        print(trace_idx, initialCondition, dists)
+
+        # time_bound = float(time_bound)
+        # num_points = int(np.ceil(time_bound / time_step))
+        # trace = np.zeros((num_points + 1, 1 + len(init)))
+        # trace[1:, 0] = [round(i * time_step, 10) for i in range(num_points)]
+        # trace[0, 1:] = init
+
+        # for i in range(num_points):
+        #     r = self.action_handler(mode[0])
+        #     r.set_initial_value(init)
+        #     res: np.ndarray = r.integrate(r.t + time_step)
+        #     init = res.flatten()
+        #     # if init[3] < 0:
+        #     #     init[3] = 0
+        #     trace[i + 1, 0] = time_step * (i + 1)
+        #     trace[i + 1, 1:] = init
+        return self.all_traces[trace_idx,:steps,:]
+
+if __name__ == "__main__":
+    agent = MiniHawkAgent('a')
\ No newline at end of file
diff --git a/minihawk/minihawk_scenario.py b/minihawk/minihawk_scenario.py
new file mode 100644
index 00000000..af3eb2c2
--- /dev/null
+++ b/minihawk/minihawk_scenario.py
@@ -0,0 +1,84 @@
+from minihawk_agent import MiniHawkAgent
+from verse import Scenario, ScenarioConfig
+from enum import Enum, auto 
+import pyvista as pv 
+import polytope as pc
+import json 
+import os 
+script_dir = os.path.dirname(os.path.realpath(__file__))
+import numpy as np 
+
+def plot_polytope_3d(A, b, ax=None, color="red", trans=0.2, edge=True):
+    if ax is None:
+        ax = pv.Plotter()
+
+    poly = pc.Polytope(A=A, b=b)
+    vertices = pc.extreme(poly)
+    cloud = pv.PolyData(vertices)
+    volume = cloud.delaunay_3d()
+    shell = volume.extract_geometry()
+    if len(shell.points) <= 0:
+        return ax
+    ax.add_mesh(shell, opacity=trans, color=color)
+    if edge:
+        edges = shell.extract_feature_edges(20)
+        ax.add_mesh(edges, color="k", line_width=0.1, opacity=0.5)
+    return ax
+
+def plot3dRect(lb, ub, ax, color, trans=0.2, edge=True):
+    box = [lb, ub]
+    poly = pc.box2poly(np.array(box).T)
+    ax = plot_polytope_3d(poly.A, poly.b, ax=ax, color=color, edge=edge, trans=trans)
+    return ax
+
+class AgentMode(Enum):
+    Default = auto()
+
+if __name__ == "__main__":
+    scenario = Scenario(ScenarioConfig(parallel=False))
+
+    quad = MiniHawkAgent('quad')
+    scenario.add_agent(quad) 
+
+    scenario.set_init(
+        [
+            [[0-5.0, 75-5.0, 75-5.0, 0.0, 0.0, 0.0],
+             [0+5.0, 75+5.0, 75+5.0, 0.0, 0.0, 0.0]]
+        ],
+        [
+            (AgentMode.Default, )
+        ]
+    )
+
+    traces = scenario.verify(100, 0.25)
+    
+    plotter = pv.Plotter()
+    
+    trace = traces.nodes[0].trace['quad']
+    for i in range(0, len(trace), 2):
+        lb = trace[i][1:4]
+        ub = trace[i+1][1:4]
+        plot3dRect(lb, ub, plotter, color='blue')
+
+    with open(os.path.join(script_dir, 'static_obstacles.json'), 'r') as f:
+        obstacle_data = json.load(f)
+    total = 0
+    for i in range(0, len(obstacle_data)):
+        rect = obstacle_data[i]
+        lb = np.array([rect['x_min'], -rect['y_max'], rect['z_min']])
+        ub = np.array([rect['x_max'], -rect['y_min'], rect['z_max']])
+        # dist_lb = np.linalg.norm(lb - pos, axis=1)
+        # dist_ub = np.linalg.norm(ub - pos, axis=1)
+        # if np.all(dist_lb> 100)  and np.all(dist_ub>100):
+        #     continue
+        if ub[2]<-75:
+            continue
+        if (not np.max((ub-lb))>1):
+            continue
+        print(i)
+        lb[2] += 77.01757264137268
+        ub[2] += 77.01757264137268
+        plot3dRect(lb, ub, plotter, color='black', edge=True, trans=0.5)
+        total+=1 
+    print(total)
+    plotter.show()
\ No newline at end of file
diff --git a/minihawk/read_ros_data.py b/minihawk/read_ros_data.py
new file mode 100644
index 00000000..7d7a7e35
--- /dev/null
+++ b/minihawk/read_ros_data.py
@@ -0,0 +1,119 @@
+import rosbag
+import pandas as pd
+from datetime import datetime
+import os
+import numpy as np 
+import cv2
+
+def rosbag_to_csv(bag_file, output_dir):
+    # Open the bag file
+    bag = rosbag.Bag(bag_file)
+    
+    # Create the output directory if it doesn't exist
+    if not os.path.exists(output_dir):
+        os.makedirs(output_dir)
+    
+    # Get the list of topics
+    topics = bag.get_type_and_topic_info()[1].keys()
+    i = 0
+    for topic in topics:
+        messages = []
+        for topic, msg, t in bag.read_messages(topics=[topic]):
+            if topic == '/jaxguam/pose':
+                msg_dict = {}
+                msg_dict['timestamp'] = t.to_sec()
+                tx = msg.pose.position.x
+                ty = msg.pose.position.y
+                tz = msg.pose.position.z
+                rx = msg.pose.orientation.x
+                ry = msg.pose.orientation.y
+                rz = msg.pose.orientation.z
+                rw = msg.pose.orientation.w
+                msg_dict['tx'] = tx
+                msg_dict['ty'] = ty
+                msg_dict['tz'] = tz
+                msg_dict['rx'] = rx
+                msg_dict['ry'] = ry
+                msg_dict['rz'] = rz
+                msg_dict['rw'] = rw
+                messages.append(msg_dict)
+            elif topic == '/minihawk/pose':
+                msg_dict = {}
+                msg_dict['timestamp'] = t.to_sec()
+                tx = msg.pose.position.x
+                ty = msg.pose.position.y
+                tz = msg.pose.position.z
+                rx = msg.pose.orientation.x
+                ry = msg.pose.orientation.y
+                rz = msg.pose.orientation.z
+                rw = msg.pose.orientation.w
+                msg_dict['tx'] = tx
+                msg_dict['ty'] = ty
+                msg_dict['tz'] = tz
+                msg_dict['rx'] = rx
+                msg_dict['ry'] = ry
+                msg_dict['rz'] = rz
+                msg_dict['rw'] = rw
+                messages.append(msg_dict)
+            elif topic == "/jaxguam/velocity":
+                msg_dict = {}
+                msg_dict['timestamp'] = t.to_sec()
+                tvx = msg.linear.x
+                tvy = msg.linear.y 
+                tvz = msg.linear.z 
+                rvx = msg.angular.x 
+                rvy = msg.angular.y
+                rvz = msg.angular.z 
+                msg_dict['tvx'] = tvx
+                msg_dict['tvy'] = tvy
+                msg_dict['tvz'] = tvz
+                msg_dict['rvx'] = rvx
+                msg_dict['rvy'] = rvy
+                msg_dict['rvz'] = rvz
+                messages.append(msg_dict)
+            elif topic == "/target/pose":
+                msg_dict = {}
+                msg_dict['timestamp'] = t.to_sec()
+                msg_dict['tvx'] = msg.linear.x
+                msg_dict['tvy'] = msg.linear.y
+                msg_dict['tvz'] = msg.linear.z
+                msg_dict['rvx'] = msg.angular.x
+                msg_dict['rvy'] = msg.angular.y
+                msg_dict['rvz'] = msg.angular.z
+                messages.append(msg_dict)
+            else:
+                # Convert ROS message to dictionary
+                msg_dict = {}
+                for slot in msg.__slots__:
+                    msg_dict[slot] = getattr(msg, slot)
+                msg_dict['timestamp'] = t.to_sec()
+                messages.append(msg_dict)
+        
+        # Convert list of dictionaries to pandas DataFrame
+        df = pd.DataFrame(messages)
+        
+        # Write DataFrame to CSV
+        csv_file = os.path.join(output_dir, topic.replace('/', '_') + '.csv')
+        df.to_csv(csv_file, index=False)
+    
+    bag.close()
+
+# Usage
+
+script_dir = os.path.dirname(os.path.realpath(__file__))
+
+fn_list = [
+    "20241204153116",
+    "20241204153536",
+    "20241204154010",
+    "20241204154352",
+    # "20241204154828",
+]
+
+if __name__ == "__main__":
+    for i in range(4):
+        fn = os.path.join(script_dir, './MiniHawk_Runs-5', fn_list[i], './tmp/recorded_topics.bag')
+        # img_dir = os.path.join(script_dir, './pi_images/')
+        # if not os.path.exists(img_dir):
+        #     os.mkdir(img_dir)
+        rosbag_to_csv(fn, os.path.join(script_dir, f'./extracted_{i}/'))
diff --git a/minihawk/visualize_result.py b/minihawk/visualize_result.py
new file mode 100644
index 00000000..eebf0dfc
--- /dev/null
+++ b/minihawk/visualize_result.py
@@ -0,0 +1,80 @@
+import numpy as np 
+import matplotlib.pyplot as plt 
+import pandas as pd 
+import os 
+import pyvista as pv 
+import json 
+script_dir = os.path.dirname(os.path.realpath(__file__))
+import polytope as pc
+
+def plot_polytope_3d(A, b, ax=None, color="red", trans=0.2, edge=True):
+    if ax is None:
+        ax = pv.Plotter()
+
+    poly = pc.Polytope(A=A, b=b)
+    vertices = pc.extreme(poly)
+    cloud = pv.PolyData(vertices)
+    volume = cloud.delaunay_3d()
+    shell = volume.extract_geometry()
+    if len(shell.points) <= 0:
+        return ax
+    ax.add_mesh(shell, opacity=trans, color=color)
+    if edge:
+        edges = shell.extract_feature_edges(20)
+        ax.add_mesh(edges, color="k", line_width=0.1, opacity=0.5)
+    return ax
+
+def plot3dRect(lb, ub, ax, color, edge=True):
+    box = [lb, ub]
+    poly = pc.box2poly(np.array(box).T)
+    ax = plot_polytope_3d(poly.A, poly.b, ax=ax, color=color, edge=edge)
+    return ax
+
+with open(os.path.join(script_dir, 'static_obstacles.json'), 'r') as f:
+    obstacle_data = json.load(f)
+plotter = pv.Plotter()
+
+for i in range(4):
+    df = pd.read_csv(os.path.join(script_dir, f'extracted_{i}','./_minihawk_pose.csv'))
+    tx = np.array(df['tx'])
+    ty = np.array(df['ty'])
+    tz = np.array(df['tz'])
+    pos = np.zeros((tx.shape[0], 3))
+    pos[:,0] = tx
+    pos[:,1] = ty
+    pos[:,2] = tz
+
+
+    # print(df['tx'].shape, df['ty'].shape)
+    # plt.plot(tx, ty)
+    # plt.show()
+
+    # for i in range(tx.shape[0]-1):
+    #     start = np.array([tx[i], ty[i], tz[i]])
+    #     end = np.array([tx[i+1], ty[i+1], tz[i+1]])
+    #     line = pv.Line(start, end)
+    #     plotter.add_mesh(line, color='blue', line_width=2)
+    trajectory = pv.lines_from_points(pos)
+    plotter.add_mesh(trajectory, color='blue', line_width=3)
+
+min_ub = np.inf
+for i in range(0, len(obstacle_data)):
+    rect = obstacle_data[i]
+    lb = np.array([rect['x_min'], -rect['y_max'], rect['z_min']])
+    ub = np.array([rect['x_max'], -rect['y_min'], rect['z_max']])
+    dist_lb = np.linalg.norm(lb - pos, axis=1)
+    dist_ub = np.linalg.norm(ub - pos, axis=1)
+    # if np.all(dist_lb> 100)  and np.all(dist_ub>100):
+    #     continue
+    if ub[2]<-75:
+        continue
+    if (not np.max((ub-lb))>1):
+        continue
+    if ub[2]<min_ub:
+        min_ub = ub[2]
+    print(i)
+    lb[2] += 77.01757264137268
+    ub[2] += 77.01757264137268
+    plot3dRect(lb, ub, plotter, 'r', edge=True) 
+print(min_ub)
+plotter.show()
\ No newline at end of file
diff --git a/tutorial/tutorial_sensor.py b/tutorial/tutorial_sensor.py
index ce2fc111..22bba102 100644
--- a/tutorial/tutorial_sensor.py
+++ b/tutorial/tutorial_sensor.py
@@ -51,7 +51,7 @@ def add_states_3d(cont, disc, thing, val, cont_var, disc_var, stat_var):
 
 class DefaultSensor:
     # The baseline sensor is omniscient. Each agent can get the state of all other agents
-    def sense(self, agent: BaseAgent, state_dict, lane_map):
+    def sense(self, agent: BaseAgent, state_dict, lane_map, simulate=True):
         cont = {}
         disc = {}
         len_dict = {"others": len(state_dict) - 1}