diff --git a/clear.py b/clear.py
deleted file mode 100644
index c12b90f..0000000
--- a/clear.py
+++ /dev/null
@@ -1,55 +0,0 @@
-import os
-import ast
-from concurrent.futures import ThreadPoolExecutor, as_completed
-
-def find_py_files(root_dir):
-    py_files = []
-    for root, dirs, files in os.walk(root_dir):
-        for file in files:
-            if file.endswith('.py'):
-                py_files.append(os.path.join(root, file))
-    return py_files
-
-def analyze_file(file_path):
-    with open(file_path, "r", encoding='utf-8') as file:
-        file_content = file.read()
-    tree = ast.parse(file_content)
-    
-    classes = [node.name for node in ast.walk(tree) if isinstance(node, ast.ClassDef)]
-    functions = [node.name for node in ast.walk(tree) if isinstance(node, ast.FunctionDef)]    
-    return file_path, classes, functions
-
-def analyze_projects(root_dir):
-    py_files = find_py_files(root_dir)
-    results = []
-
-    with ThreadPoolExecutor(max_workers=4) as executor:
-        future_to_file = {executor.submit(analyze_file, file_path): file_path for file_path in py_files}
-        for future in as_completed(future_to_file):
-            file_path = future_to_file[future]
-            try:
-                results.append(future.result())
-            except Exception as exc:
-                print(f'{file_path} generated an exception: {exc}')
-    return results
-
-root_dir = "./"
-results = analyze_projects(root_dir)
-
-result_dict = {}
-
-for file_path, classes, functions in results:
-    print(f"File: {file_path}")
-    print(f"Classes: {classes}")
-    print(f"Functions: {functions}")
-    result_dict[file_path] = {}
-    result_dict[file_path][classes] = 0
-    result_dict[file_path][functions] = 0
-    result_dict[file_path][functions] = 0
-    result_dict[file_path]['count'] = 0
-
-import json
-  
-out_file = open("myfile.json", "w") 
-json.dump(result_dict, out_file, indent = 4) 
-out_file.close() 
\ No newline at end of file
diff --git a/team_code/uniad_b2d_agent.py b/team_code/uniad_b2d_agent.py
index caddd33..97a3d40 100644
--- a/team_code/uniad_b2d_agent.py
+++ b/team_code/uniad_b2d_agent.py
@@ -186,8 +186,7 @@ def equations(vars):
         self._route_planner = RoutePlanner(4.0, 50.0, lat_ref=self.lat_ref, lon_ref=self.lon_ref)
         self._route_planner.set_route(self._global_plan, True)
         self.initialized = True
-  
-  
+        self.metric_info = {}
 
     def sensors(self):
         sensors =[
@@ -393,7 +392,9 @@ def run_step(self, input_data, timestamp):
         self.pid_metadata['throttle_traj'] = float(throttle_traj)
         self.pid_metadata['brake_traj'] = float(brake_traj)
         self.pid_metadata['plan'] = out_truck.tolist()
-        if SAVE_PATH is not None and self.step % 10 == 0:
+        metric_info = self.get_metric_info()
+        self.metric_info[self.step] = metric_info
+        if SAVE_PATH is not None and self.step % 1 == 0:
             self.save(tick_data)
         self.prev_control = control
         return control
@@ -411,6 +412,11 @@ def save(self, tick_data):
         json.dump(self.pid_metadata, outfile, indent=4)
         outfile.close()
 
+        # metric info
+        outfile = open(self.save_path / 'metric_info.json', 'w')
+        json.dump(self.metric_info, outfile, indent=4)
+        outfile.close()
+
     def destroy(self):
         del self.model
         torch.cuda.empty_cache()
diff --git a/team_code/vad_b2d_agent.py b/team_code/vad_b2d_agent.py
index a05c807..012b802 100644
--- a/team_code/vad_b2d_agent.py
+++ b/team_code/vad_b2d_agent.py
@@ -189,6 +189,7 @@ def equations(vars):
         self._route_planner = RoutePlanner(4.0, 50.0, lat_ref=self.lat_ref, lon_ref=self.lon_ref)
         self._route_planner.set_route(self._global_plan, True)
         self.initialized = True
+        self.metric_info = {}
   
   
 
@@ -412,7 +413,9 @@ def run_step(self, input_data, timestamp):
         self.pid_metadata['command'] = command
         self.pid_metadata['all_plan'] = all_out_truck.tolist()
 
-        if SAVE_PATH is not None and self.step % 10 == 0:
+        metric_info = self.get_metric_info()
+        self.metric_info[self.step] = metric_info
+        if SAVE_PATH is not None and self.step % 1 == 0:
             self.save(tick_data)
         self.prev_control = control
         
@@ -437,6 +440,11 @@ def save(self, tick_data):
         json.dump(self.pid_metadata, outfile, indent=4)
         outfile.close()
 
+        # metric info
+        outfile = open(self.save_path / 'metric_info.json', 'w')
+        json.dump(self.metric_info, outfile, indent=4)
+        outfile.close()
+
     def destroy(self):
         del self.model
         torch.cuda.empty_cache()